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Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs,…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
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…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…
With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking…
Macro-micro manipulators combine a macro manipulator with a large workspace, such as an industrial robot, with a lightweight, high-bandwidth micro manipulator. This enables highly dynamic interaction control while preserving the wide…
Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts,…
Force and proximity sensors are key in robotics, especially when applied in collaborative robots that interact physically or cognitively with humans in real unstructured environments. However, most existing sensors for use in robotics are…
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…
Compliant mechanisms have significant potential in precision applications due to their ability to guide motion without contact. However, an inherent vulnerability to fatigue and mechanical failure has hindered the translation of compliant…
Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force torque sensors. While recent reinforcement learning approaches aim to bypass these constraints, they often…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Reliable robotic manipulation requires control policies that can accurately represent and adapt to uncertainty arising from contact-rich interactions. Modern data-driven methods mitigate uncertainty through large-scale training and…
Semi-active suspensions have drawn particular attention due to their superior performance over the other types of suspensions. One of their advantages is that their damping coefficient can be controlled without the need for any external…