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This paper explores the opportunities of using a digital twin to address the complexities of collaborative production systems through an industrial case and a demonstrator. A digital twin, as a virtual counterpart of a physical human-robot…
Control Co-Design (CCD) integrates physical and control system design to improve the performance of dynamic and autonomous systems. Despite advances in uncertainty-aware CCD methods, real-world uncertainties remain highly unpredictable.…
The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…
Automated driving systems are an integral part of the automotive industry. Tools such as Robot Operating System and simulators support their development. However, in the end, the developers must test their algorithms on a real vehicle. To…
Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, the strong nonlinear coupling between materials, morphology, and…
This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service…
Human hand simulation plays a critical role in digital twin applications, requiring models that balance anatomical fidelity with computational efficiency. We present a complete pipeline for constructing multi-rigid-body approximations of…
Controller design for soft robots is challenging due to nonlinear deformation and high degrees of freedom of flexible material. The data-driven approach is a promising solution to the controller design problem for soft robots. However, the…
Future manufacturing requires complex systems that connect simulation platforms and virtualization with physical data from industrial processes. Digital twins incorporate a physical twin, a digital twin, and the connection between the two.…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
We live in a world of exploding complexity driven by technical evolution as well as highly volatile socio-economic environments. Managing complexity is a key issue in everyday decision making such as providing safe, sustainable, and…
The adoption process of innovative software-intensive technologies leverages complex trust concerns in different forms and shapes. Perceived safety plays a fundamental role in technology adoption, being especially crucial in the case of…
Digital twins, which are a new concept in industrial control systems (ICS), play a key role in realizing the vision of a smart factory, and they can have different effective use cases. With digital twins, we have virtual replicas of…
Training effective artificial intelligence models for telecommunications is challenging due to the scarcity of deployment-specific data. Real data collection is expensive, and available datasets often fail to capture the unique operational…
Digital twin technology has significant promise, relevance and potential of widespread applicability in various industrial sectors such as aerospace, infrastructure and automotive. However, the adoption of this technology has been slower…
Animal behavior reflects interactions between the nervous system, body, and environment. Therefore, biomechanics and environmental context must be considered to understand algorithms for behavioral control. Neuromechanical digital twins,…
Tracking control for soft robots is challenging due to uncertainties in the system model and environment. Using high feedback gains to overcome this issue results in an increasing stiffness that clearly destroys the inherent safety property…
A digital twin is a computer model that represents an individual, for example, a component, a patient or a process. In many situations, we want to gain knowledge about an individual from its data while incorporating imperfect physical…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…