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Endowing robots with the ability to rearrange various large and heavy objects, such as furniture, can substantially alleviate human workload. However, this task is extremely challenging due to the need to interact with diverse objects and…

In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…

A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…

We consider the problem of controlling an invasive mechanical ventilator for pressure-controlled ventilation: a controller must let air in and out of a sedated patient's lungs according to a trajectory of airway pressures specified by a…

The Segway is a popular self-balancing two-wheeled vehicle. In this paper, we present a control mechanism for the planar Segway problem. The open-loop analysis validates the fact that the system is unstable by default and there is a need to…

This paper presents a position-based flocking model for interacting agents, balancing cohesion-separation and alignment to achieve stable collective motion. The model modifies a position-velocity-based approach by approximating velocity…

This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…

An unmanned deformable vehicle is a wheel-legged robot transforming between two configurations: vehicular and humanoid states, with different motion modes and stability characteristics. To address motion stability in multiple…

Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…

Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…

Driven by the need to offset the variability of renewable generation on the grid, development of load control is a highly active field of research. However, practical use of residential loads for grid balancing remains rare, in part due to…

Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…

We present a real-time system that enables bidirectional human-AI learning and teaching in a balancing task that is a realistic analogue of disorientation during piloting and spaceflight. A human subject and autonomous AI model of choice…

Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…

For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work,…

This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…

Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…

A central question for the future of work is whether person centered management can survive when algorithms take on managerial roles. Standard tools often miss what is happening because worker responses to algorithmic systems are rarely…