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Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
The demonstrations of micro-robotic systems in minimally invasive medicine include an individual or a swarm of microswimmer of various origin, artificial or biohybrid, often with an external computer-controlled electromagnetic field. There…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
Tiny cilia drive the flow of surrounding fluids through asymmetric jumping, which is one of the main ways for biological organisms to control fluid transport at the micro-scale. Due to its huge application prospects in medical and…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees -…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
Small-size robots offer access to spaces that are inaccessible to larger ones. This type of access is crucial in applications such as drug delivery, environmental detection, and collection of small samples. However, there are some tasks…
This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
The recent advancements in nanoscale 3D printing and microfabrication techniques have reinvigorated research on microrobots. However, precise motion control of the microrobots on biological environments using compact actuation setups…
The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
Supporting real-time interactions between human controllers and remote devices remains a challenging goal in the Metaverse due to the stringent requirements on computing workload, communication throughput, and round-trip latency. In this…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough…
Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in real-time is often challenging. One common solution is given…