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Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
Pre-displaced micromechanical resonators made from high-stress material give rise to new rich static and dynamic behavior. Here, an analytical model is presented to describe the mechanics of such pre-displaced resonators. The bending and…
Precision motion stages are playing a prominent role in various manufacturing equipment. The drastically increasing demand for higher throughput in integrated circuit (IC) manufacturing and inspection calls for the next-generation precision…
We present a learning-based force-torque dynamics to achieve model-based control for contact-rich peg-in-hole task using force-only inputs. Learning the force-torque dynamics is challenging because of the ambiguity of the low-dimensional…
Dynamic movement primitives (DMPs) allow complex position trajectories to be efficiently demonstrated to a robot. In contact-rich tasks, where position trajectories alone may not be safe or robust over variation in contact geometry, DMPs…
Purpose: This paper presents an impedance control method with mixed $H_2/H_\infty$ synthesis and relaxed passivity for a cable-driven series elastic actuator to be applied for physical human-robot interaction. Design/methodology/approach:…
Tendon-driven snake-like arms have been used to create highly dexterous continuum robots so that they can bend around anatomical obstacles to access clinical targets. In this paper, we propose a design algorithm for developing…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
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,…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
This paper presents a backstepping approach for the boundary control of first-order hyperbolic equations with spatially varying coefficients posed on domains of arbitrary dimension. The method is based on a change of variables induced by…
We present a highly functional and cost-effective prosthesis for transfemoral amputees that uses series elastic actuators. These actuators allow for accurate force control, low impedance and large dynamic range. The design involves one…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Model-free data-driven computational mechanics replaces phenomenological constitutive functions by numerical simulations based on data sets of representative samples in stress-strain space. The distance of strain and stress pairs from the…
A layer of dielectric elastomer can be voltage actuated to behave as actuators, but needs to avoid the electromechanical instability of excessively thin down accompanied with electric breakdown. We develop a true method to analyze the…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…