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We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

Surface hopping (SH) methods are typically employed to simulate ultrafast nonadiabatic processes, but long timescales often remain beyond their reach. To address this, accelerated SH scheme mitigate this limitation by scaling the driving…

This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…

Text-to-image generation powered by Diffusion Transformers (DiTs) has made remarkable strides, yet remote sensing (RS) synthesis lags behind due to two barriers: the absence of a domain-specialized DiT prior and the prohibitive cost of…

Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…

Objective: Overhead tasks are a primary inducement to work-related musculoskeletal disorders. Aiming to reduce shoulder physical loads, passive shoulder exoskeletons are increasingly prevalent in the industry due to their lightweight,…

Pneumatic soft everting robotic structures have the potential to facilitate human transfer tasks due to their ability to grow underneath humans without sliding friction and their utility as a flexible sling when deflated. Tubular structures…

Water Distribution Systems(WDS) are critical infrastructures that deliver potable water to residential areas. Incidents to pipelines cause water loss and contamination in pipelines. Hence, water quality monitoring is one of the requirements…

This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…

This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e.,…

This paper demonstrates how an efficient representation of the planned path using B-splines, and a construction procedure that takes advantage of the neural network's inductive bias, speed up both the inference and training of a DNN-based…

For successful object manipulation with robotic hands, it is important to ensure that the object remains in the grasp at all times. In addition to grasp constraints associated with slipping and singular hand configurations, excessive…

Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…

This paper proposes a new control strategy to improve vehicle cornering performance in a model predictive control framework. The most distinguishing feature of the proposed method is that the natural handling characteristics of the…

Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper designs a Turn-in-Place gait and demonstrates the ability of a…

This paper focuses on the development of minimum time control profiles for point-to-point motion of a gantry crane system in the presence of uncertainties in modal parameters. Assuming that the velocity of the trolley of the crane can be…

Learning instead of designing robot controllers can greatly reduce engineering effort required, while also emphasizing robustness. Despite considerable progress in simulation, applying learning directly in hardware is still challenging, in…

A well-designed control-to-display gain function can improve pointing performance with indirect pointing devices like trackpads. However, the design of gain functions is challenging and mostly based on trial and error. AutoGain is a novel…

Orographic soaring can significantly extend the endurance of micro aerial vehicles (MAVs), but circling behavior, arising from control conflicts between the longitudinal and vertical axes, increases energy consumption and the risk of…

Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing approaches address these challenges separately, either focusing…