Related papers: An Audio-Based Iterative Controller for Soft Landi…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
This paper presents the first design of a soft, 3D-printed in flexible filament, lightweight UAV, capable of performing full-body perching using soft tendons, specifically landing and stabilizing on pipelines and irregular surfaces without…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the…
This work considers load-balance control among the relays under the secure transmission protocol via relay cooperation in two-hop wireless networks without the information of both eavesdropper channels and locations. The available two-hop…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing compliant actuation. On the one hand, adding a spring mitigates the…
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Sustained research efforts have been devoted to learning optimal controllers for linear stochastic dynamical systems with unknown parameters, but due to the corruption of noise, learned controllers are usually uncertified in the sense that…
Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve tracking accuracy, this paper proposes an adaptive…
We consider stochastic motion planning in single-source single-destination robotic relay networks, under a cooperative beamforming framework. Assuming that the communication medium constitutes a spatiotemporal stochastic field, we propose a…
Soft robotic crawlers are mobile robots that utilize soft body deformability and compliance to achieve locomotion through surface contact. Designing control strategies for such systems is challenging due to model inaccuracies, sensor noise,…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…
This article is concerned with stability analysis and stabilization of randomly switched systems under a class of switching signals. The switching signal is modeled as a jump stochastic (not necessarily Markovian) process independent of the…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…