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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…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
Contact force in contact-rich environments is an essential modality for robots to perform general-purpose manipulation tasks, as it provides information to compensate for the deficiencies of visual and proprioceptive data in collision…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…
Rehabilitation tasks demand robust and accurate trajectory-tracking performance, mainly achieved with parallel robots. In this field, limiting the value of the force exerted on the patient is crucial, especially when an injured limb is…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Distributed averaging-based integral (DAI) controllers are becoming increasingly popular in power system applications. The literature has thus far primarily focused on disturbance rejection, steady-state optimality and adaption to complex…
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
In this paper, we propose a supervised learning approach based on an Artificial Neural Network (ANN) model for real-time classification of subtasks in a physical human-robot interaction (pHRI) task involving contact with a stiff…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
This paper studies data-driven iterative learning control (ILC) for linear time-invariant (LTI) systems with unknown dynamics, output disturbances and input box-constraints. Our main contributions are: 1) using a non-parametric data-driven…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC has been fundamentally limited to first-order impedance…
For dynamical systems evolving on a manifold and admitting first integrals, standard one-step numerical methods generally cause the discrete trajectory to drift off the manifold and the numerical values of the first integrals to deviate…
This paper presents a switched model reference admittance control framework to achieve safe and compliant human-robot collaboration through reference trajectory shaping. The proposed method generates variable admittance parameters according…