Related papers: Dynamic Motion/Force Control of Mobile Manipulator…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in…
Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…
Mobile edge computing (MEC) is considered a novel paradigm for computation-intensive and delay-sensitive tasks in fifth generation (5G) networks and beyond. However, its uncertainty, referred to as dynamic and randomness, from the mobile…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
Grasping moving objects is a challenging task that requires multiple submodules such as object pose predictor, arm motion planner, etc. Each submodule operates under its own set of meta-parameters. For example, how far the pose predictor…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Unmanned aerial vehicles serving as aerial base stations can rapidly restore connectivity after disasters, yet abrupt changes in user mobility and traffic demands shift the quality of service trade-offs and induce strong non-stationarity.…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
This paper presents a unified algorithm for motion and force control for a six degree-of-freedom spatial manipulator. The motion-force controller performs trajectory tracking, maneuvering the manipulator's end-effector through desired…
We experimentally demonstrate a robust dynamical decoupling protocol with bounded controls using long soft pulses, eliminating a challenging requirement of strong control pulses in conventional implementations. This protocol is accomplished…
Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…