Related papers: Manual, Semi or Fully Autonomous Flipper Control? …
Recent advancements in whole-body control through deep reinforcement learning have enabled humanoid robots to achieve remarkable progress in real-world chal lenging locomotion skills. However, existing approaches often struggle with…
In this work we study the problem of rope sway dynamics control for elevator systems. We choose to actuate the system with a semi-active damper mounted on the top of the elevator car. We propose nonlinear controllers based on Lyapunov…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
"Model-free" control and the related "intelligent" proportional-integral (PI) controllers are successfully applied to freeway ramp metering control. Implementing moreover the corresponding control strategy is straightforward. Numerical…
Shared autonomy in driving requires anticipating human behavior, flagging risk before it becomes unavoidable, and transferring control safely and smoothly. We propose Diffusion-SAFE, a closed-loop framework built on two diffusion models: an…
Modern combustion engines incorporate a number of actuators and sensors that can be used to control and optimize the performance and emissions. We describe a semi-automatic method to simultaneously measure and calibrate the actuator…
Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…
In this paper, we evaluate a semi-autonomous brain-computer interface (BCI) for manipulation tasks. In such system, the user controls a robotic arm through motor imagery commands. In traditional process-control BCI systems, the user has to…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
This paper investigates the use of LiDAR SLAM as a pose feedback for autonomous flight. Cartographer, LOAM and HDL graph SLAM are first introduced on a conceptual level and later tested for this role. They are first compared offline on a…
Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…
Existence of optimal solutions and necessary optimality conditions for a controlled version of Moreau's sweeping process are derived. The control is a measurable ingredient of the dynamics and the constraint set is a polyhedron. The novelty…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
Remote manipulation is emerging as one of the key robotics tasks needed in extreme environments. Several researchers have investigated how to add AI components into shared controllers to improve their reliability. Nonetheless, the impact of…