Related papers: Passive Vibration Control of a 3-D Printer Gantry
Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…
Large amplitude vibrations can cause hazards and failure to engineering structures. Active control has been an effective strategy to suppress vibrations, but it faces great challenges in the real-time control of nonlinear flexible…
Additive manufacturing brings a variety of new possibilities to the construction industry, extending the capabilities of existing fabrication methods whilst also creating new possibilities. Currently three-dimensional printing is used to…
Articulated Frame Steering (AFS) vehicles are widely used in heavy-duty industries, where they often operate near operators and laborers. Therefore, designing safe controllers for AFS vehicles is essential. In this paper, we develop a…
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…
This paper proposes a novel method for prevention of the increasing oscillation of an aircraft wing under the flexural torsion flutter. The paper introduces the novel multi-agent method for control of an aircraft wing, assuming that the…
In this paper, we present a novel flow model and compensation strategy for high-viscosity fluid deposition that yields high quality parts in the face of large transient delays and nonlinearity. Robotic high-viscosity fluid deposition is an…
Passive flow control via fluid-structure interaction (FSI) is a promising paradigm for unmanned aerial vehicles operating in vortex-dominated low Reynolds number regimes. A flexible structure has the potential to passively alter key…
Flow-improving devices (FIDs) are used the most effectively for the reduction of noise and vibration induced by a propulsor. These devices may also increase the efficiency of a propulsor and in some cases should be considered and designed…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
The compliant structure of soft robotic systems enables a variety of novel capabilities in comparison to traditional rigid-bodied robots. A subclass of soft fluid-driven actuators known as fiber reinforced elastomeric enclosures (FREEs) is…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
Although research studies in pneumatic soft robots develop rapidly, most pneumatic actuators are still controlled by rigid valves and conventional electronics. The existence of these rigid, electronic components sacrifices the compliance…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor drones. However, their practical deployment is challenged by…
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent,…
High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…
In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the…
Thin-walled structures capable of large, reversible deformation are key to multistable structures, origami, kirigami, and soft robotics. However, conventional fabrication techniques, including 3D printing, casting, and laser cutting, suffer…
Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…