Related papers: Real-time Two-tape Control System in Vine robots
Aerial robotic arms aim to enable inspection and environment interaction in otherwise hard-to-reach areas from the air. However, many aerial manipulators feature bulky or heavy robot manipulators mounted to large, high-payload aerial…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
Control strategies for robotic needle steering in soft tissues must account for complex interactions between the needle and the tissue to achieve accurate needle tip positioning. Recent findings show faster robotic command rate can improve…
This paper demonstrates a visual servoing method which is robust towards uncertainties related to system calibration and grasping, while significantly reducing the peg-in-hole time compared to classical methods and recent attempts based on…
Reliable long-term deployment of autonomous robots in agricultural environments remains challenging due to perceptual aliasing, seasonal variability, and the dynamic nature of crop canopies. Vineyards, characterized by repetitive row…
Autonomous navigation is the foundation of agricultural robots. This paper focuses on developing an advanced autonomous navigation system for a rover operating within row-based crops. A position-agnostic system is proposed to address the…
We introduce a Task-Level Iterative Learning Control method for dynamic manipulation of ropes. We demonstrate this method on a non-planar rope manipulation task called the flying knot. Using a single human demonstration and a simplified…
There is a dramatic shortage of skilled labor for modern vineyards. The Vinum project is developing a mobile robotic solution to autonomously navigate through vineyards for winter grapevine pruning. This necessitates an autonomous…
Soft, tip-extending vine robots are well suited for navigating tight, debris-filled environments, making them ideal for urban search and rescue. Sensing the full shape of a vine robot's body is helpful both for localizing information from…
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and…
To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…
Soft robots have gained increased popularity in recent years due to their adaptability and compliance. In this paper, we use a digital twin model of cable-driven soft robots to learn control parameters in simulation. In doing so, we take…
This paper has proposed a Digital Twin (DT) framework for real-time motion and pose control of soft robotic grippers. The developed DT is based on an industrial robot workstation, integrated with our newly proposed approach for soft gripper…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
Vine-inspired robots achieve large workspace coverage through tip eversion, enabling safe navigation in confined and cluttered environments. However, their deployment in free space is fundamentally limited by low axial stiffness, poor…
3D printing has enabled various applications using different forms of materials, such as filaments, sheets, and inks. Typically, during 3D printing, feedstocks are transformed into discrete building blocks and placed or deposited in a…
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 manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
This paper presents a feedback/feedforward nonlinear controller for variable-speed wind turbines with doubly fed induction generators. By appropriately adjusting the rotor voltages and the blade pitch angle, the controller simultaneously…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…