Related papers: Mitigating Dynamic Tip-Over during Mobile Crane Sl…
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…
By applying invariant-based inverse engineering in the small-oscillations regime, we design the time dependence of the control parameters of an overhead crane (trolley displacement and rope length), to transport a load between two positions…
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…
With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Cranes come in various sizes and designs to perform different tasks. Depending on their dynamic properties, they can be classified as gantry cranes and rotary cranes. In this paper we will focus on the so called 'knuckle boom' cranes which…
In this paper, a novel switching pushing skill algorithm is proposed to improve the efficiency of planar non-prehensile manipulation, which draws inspiration from human pushing actions and comprises two sub-problems, i.e., discrete…
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Vine robots extend their tubular bodies by everting material from the tip, enabling navigation in complex environments with a minimalist soft body. Despite their promise for field applications, especially in the urban search and rescue…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Grasping moving objects is a challenging task that requires multiple submodules such as object pose predictor, arm motion planner, etc. Each submodule operates under its own set of meta-parameters. For example, how far the pose predictor…
The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within this context, the primary objective is to…
This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while…
Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast production constraints. To help address this challenge, we…
A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…
This paper addresses the trade-off between time- and energy-efficiency for the problem of loading and unloading a ship. Container height constraints and energy consumption and regeneration are dealt with. We build upon a previous work that…
Building spiking neural networks (SNNs) based on biological synaptic plasticities holds a promising potential for accomplishing fast and energy-efficient computing, which is beneficial to mobile robotic applications. However, the…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Dexterous in-hand manipulation offers significant potential to enhance robotic manipulator capabilities. This paper presents a sensori-motor architecture for in-hand slip-aware control, being embodied in a sensorized gripper. The gripper in…