Related papers: Distributed Inverse Dynamics Control for Quadruped…
This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one…
This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and…
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Specialized motions such as jumping are often achieved on quadruped robots by solving a trajectory optimization problem once and executing the trajectory using a tracking controller. This approach is in parallel with Model Predictive…
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the…
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniques. This paper presents a distributed control technique for…
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…
Fully actuated multirotor platforms decouple translational force generation from vehicle attitude, enabling independent control of position and orientation and shifting performance limitations from attitude authority to actuator dynamics…
These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Generalized Polynomial Chaos (gPC) theory has been widely used for representing parametric uncertainty in a system, thanks to its ability to propagate uncertainty evolution. In an optimal control context, gPC can be combined with several…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. This paper proposes a…
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions…
Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…