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Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
Valveless pumping assists in fluid transport in various organisms and engineering systems. In a previous work, to study the actuator impact effects on valveless pumping, we constructed a piecewise-linear lumped-parameter model for a…
Significant improvements have been achieved in motion control systems with the availability of high speed power switches and microcomputers on the market. Even though motor drivers are able to provide high torque control bandwidth under…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
Modern power steering systems employ an electric motor drive system to provide torque assistance to the driver. The closed-loop mechanical system dynamics that impact stability, performance and steering feel are significantly impacted by…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
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…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…