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Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
This work aims to develop an integrated control strategy for Brushless Direct Current Motors for a wide range of applications in robotics systems. The controller is suited for both high torque - low speed and high-speed control of the…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…
Soft robotic actuators are safe and adaptable devices with inherent compliance, which makes them attractive for manipulating delicate and complex objects. Researchers have integrated stiff materials into soft actuators to increase their…
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control…
Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Robots are traditionally bounded by a fixed embodiment during their operational lifetime, which limits their ability to adapt to their surroundings. Co-optimizing control and morphology of a robot, however, is often inefficient due to the…
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies to assist workers in repetitive physical tasks and deal with…
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…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…