Related papers: SO(3) attitude controllers and the alignment of ro…
Robotic force-based compliance control is a preferred approach to achieve high-precision assembly tasks. When the geometric features of assembly objects are asymmetric or irregular, reinforcement learning (RL) agents are gradually…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multiple contacts to enhance their balance, such as placing a…
This paper proposes a discrete-time geometric attitude observer for fusing monocular vision with GPS velocity measurements. The observer takes the relative transformations obtained from processing monocular images with any visual odometry…
This paper studies the attitude control of a satellite in three-axis by thrusters. The mathematical model of attitude dynamics and kinematics of the satellite is represented as a switched system with sub-systems. Each sub-system is defined…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment.…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Modern non-linear model-based controllers require an accurate physics model and model parameters to be able to control mobile robots at their limits. Also, due to surface slipping at high speeds, the friction parameters may continually…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the…
This paper uses Model Predictive Control (MPC) to optimise the input torques of a Three-Degrees-of-Freedom (DOF) robotic arm, enabling it to operate to the target position and grasp the object accurately. A monocular camera is firstly used…
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
In this paper, we present a geometric framework for the reachability analysis of attitude control systems. We model the attitude dynamics on the product manifold $\mathrm{SO}(3) \times \mathbb{R}^3$ and introduce a novel parametrized family…