Related papers: Integrated Design and Control of a Robotic Arm on …
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
This paper presents the application of a Distributed Model Reference Adaptive Control (DMRAC) strategy for robust multi-agent synchronization of a network of drones. The proposed approach enables the development of controllers capable of…
Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…
Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…
This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…
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…
Simulation frameworks are essential for the safe development of robotic applications. However, different components of a robotic system are often best simulated in different environments, making full integration challenging. This is…
This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the…
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…
The purpose of this paper is to present the control system design of Tricopter. We have presented the implementation of control system in software in this paper. Tricopter's control system mainly consists of two parts Complimentary filter…