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Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Strain sensors are gaining popularity in soft robotics for acquiring tactile data due to their flexibility and ease of integration. Tactile sensing plays a critical role in soft grippers, enabling them to safely interact with unstructured…
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…
Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…
In the realm of autonomous vehicle technologies and advanced driver assistance systems, precise and reliable path tracking controllers are vital for safe and efficient navigation. However the presence of dead time in the vehicle control…
Soft robotic crawlers are mobile robots that utilize soft body deformability and compliance to achieve locomotion through surface contact. Designing control strategies for such systems is challenging due to model inaccuracies, sensor noise,…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…
This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
This paper deals with the tracking control problem for a very simple class of unknown nonlinear systems. In this paper, we presents a design strategy for tracking control of time-varying state constrained nonlinear systems in an adaptive…
This article proposes a collision risk anticipation method based on short-term prediction of the agents position. A Long Short-Term Memory (LSTM) model, trained on past trajectories, is used to estimate the next position of each robot. This…
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…
Soft robots pose difficulties in terms of control, requiring novel strategies to effectively manipulate their compliant structures. Model-based approaches face challenges due to the high dimensionality and nonlinearities such as hysteresis…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…