Related papers: Encoding Biomechanical Energy Margin into Passivit…
Clock synchronization is ubiquitous in wireless systems for communication, sensing and control. In this paper we design a scalable system in which an indefinite number of passively receiving wireless units can synchronize to a single master…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Desynchronization is one of the primitive services for complex networks because it arranges nodes to take turns accessing a shared resource. TDMA is a practical application of desynchronization because it allows node to share a common…
This paper proposes a balancing-based model reduction approach for an interconnection of passive dynamic subsystems. This approach preserves the passivity and stability of both the subsystems and the interconnected system. Hereto, one…
Series Elastic Actuation (SEA) is a widely-used approach for interaction control, as it enables high fidelity and robust force control, improving the safety of physical human-robot interaction (pHRI). Safety is an imperative design…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
This paper presents an analysis of the passivity condition for discrete-time bilateral teleoperation systems. Considering discrete-time controllers for a master-slave teleoperation system can simplify its implementation. Varieties of…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
Deploying synchronous condensers (SynCons) near grid-following renewable energy sources (GFLRs) is an effective and increasingly adopted strategy for grid support. However, the potential transient instability risks in such configurations…
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…
In the interconnected power system network, instability problems are caused mainly by the low frequency oscillations of 0.2 to 2.5 Hz. The supplementary control signal in addition with AVR and high gain excitation systems are provided by…
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…
In this paper we propose a new scheduling algorithm called Real Time Scheduling (RTS) which uses virtual nodes for self stabilization. This algorithm deals with all the contributing components of the end-to-end travelling delay of data…
We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we extend this for hybrid robotic systems, an alternating…
Synchronization is essential for the operation of AC power systems: All generators in the power grid must rotate with fixed relative phases to enable a steady flow of electric power. Understanding the conditions for and the limitations of…
Traditional telesurgery relies on the surgeon's full control of the robot on the patient's side, which tends to increase surgeon fatigue and may reduce the efficiency of the operation. This paper introduces a Robotic Partner (RP) to…
We investigate the stochastic transfer synchronization problem, which seeks to synchronize the timetables of different routes in a transit network to reduce transfer waiting times, delay times, and unnecessary in-vehicle times. We present a…
This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system…
During the last decades, significant advances have been made in the area of power system stability and control. Nevertheless, when this analysis is carried out by means of decentralized conditions in a general network, it has been based on…