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Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…
Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…
Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures the safety of the arm and…
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory presents unsolved challenges in computation burden. In this…
With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes,…
Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
Supernumerary Robotic Limbs (SRLs) exhibit inherently compliant behavior due to the elasticity present at the intersection of human tissue and the robot. This compliance, can prominently influence the operation of some SRLs, depending on…
The wheeled three-link snake robot is a well-known example of an underactuated system modelled using nonholonomic constraints, preventing lateral slippage (skid) of the wheels. A kinematically controlled configuration assumes that both…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Rapid acceleration and burst maneuvers in underwater robots depend less on maintaining precise resonance and more on force--velocity phase alignment during thrust generation. In this work, we investigate constrained-layer damping (CLD) as a…
This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…
Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in dynamic legged locomotion control, the substantial…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Ensuring safety in reinforcement learning (RL)-based robotic systems is a critical challenge, especially in contact-rich tasks within unstructured environments. While the state-of-the-art safe RL approaches mitigate risks through safe…
In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding vector fields (GVFs) may limit the motion capability due to…
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…