Related papers: Stiffness-based Analytic Centre Method for Cable-D…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…
Impedance-based control represents a prevalent strategy in the powered trans femoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for…
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
Dynamic state estimation (DSE) is becoming increasingly important for monitoring inverter-dominated power systems. Due to their cascading control structures, inverter-based resources (IBRs) exhibit multi-timescale dynamics, leading to stiff…
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However,…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
A novel semi-analytical method is proposed to develop the pseudo-rigid-body~(PRB) model of robots made of highly flexible members (HFM), such as flexures and continuum robots, with no limit on the degrees of freedom of the PRB model. The…
Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape.…
The identification of dynamic parameters in mechanical systems is important for improving model-based control as well as for performing realistic dynamic simulations. Generally, when identification techniques are applied only a subset of…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
The determination of the stiffness center of a machine tool is a major element for knowing the dynamic behavior of this one. This stiffness center can be obtained from a static characterization of the machine tool. For an operation of…
Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…
Regularization is a critical component in deep learning. The most commonly used approach, weight decay, applies a constant penalty coefficient uniformly across all parameters. This may be overly restrictive for some parameters, while…
By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…
The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of…
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…