Related papers: Construction of an Impedance Control Test Bench
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
In-circuit impedance measurement provides useful information for many EMC applications. The inductive coupling approach is a promising in-circuit impedance measurement method due to its non-contact characteristics and simple on-site…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
This paper presents design, fabrication and control of a compliant 2D manipulator, a so called soft actuator. Our focus is on fiber-reinforced elastomer actuators driven by a constant pressure hydraulic supply and modulated on/off valves.…
Emerging mobility systems, e.g., connected and automated vehicles (CAVs), shared mobility, and electric vehicles, provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better…
Integrated sensing and communication (ISAC) is an emerging technology in next-generation communication networks. However, the communication performance of the ISAC system may be severely affected by interference from the radar system if the…
Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for…
Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, the commonly used position or velocity tracking-based…
This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect…
This paper presents an approach to ensure conditions on Variable Impedance Controllers through the off-line tuning of the parameters involved in its description. In particular, we prove its application to term modulations defined by a…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
The Automated Contact Angle Tester (ACAT) is a fully integrated robotic work cell developed to automate the measurement of surface wettability on 3D-printed materials. Designed for precision, repeatability, and safety, ACAT addresses the…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Contact-rich manipulation is crucial for robots to perform tasks requiring precise force control, such as insertion, assembly, and in-hand manipulation. However, most imitation learning (IL) policies remain position-centric and lack…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…