Related papers: Simulation and optimization of computed torque con…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracking a given trajectory. The complex dynamics and non-linear…
Designing effective rehabilitation strategies for upper extremities, particularly hands and fingers, warrants the need for a computational model of human motor learning. The presence of large degrees of freedom (DoFs) available in these…
A seamless integration of robots into human environments requires robots to learn how to use existing human tools. Current approaches for learning tool manipulation skills mostly rely on expert demonstrations provided in the target robot…
Switched Reluctance Motors (SRMs) are cost-effective electric actuators that utilize magnetic reluctance to generate torque, with torque ripple arising from unaccounted manufacturing defects in the rotor tooth geometry. This paper aims to…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
Controlling autonomous vehicles at their handling limits is a significant challenge, particularly for electric vehicles with active four wheel drive (A4WD) systems offering independent wheel torque control. While traditional Vehicle…
This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
Our goal is to develop a principled and general algorithmic framework for task-driven estimation and control for robotic systems. State-of-the-art approaches for controlling robotic systems typically rely heavily on accurately estimating…
In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in…
Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
Industrial manipulators are normally operated in cluttered environments, making safe motion planning important. Furthermore, the presence of model-uncertainties make safe motion planning more difficult. Therefore, in practice the speed is…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Reinforcement learning (RL) has evolved into a widely investigated technology for the development of smart TSC strategies. However, current RL algorithms necessitate excessive interaction with the environment to learn effective policies,…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularly in tasks such as transport that demand accuracy and…