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This paper presents SHARP (Supercomputing for High-speed Avoidance and Reactive Planning), a proof-of-concept study demonstrating how high-performance computing (HPC) can enable millisecond-scale responsiveness in robotic control. While…
During loading and unloading steps, energy is consumed when cranes lift containers, while energy is often wasted when cranes drop containers. By optimizing the scheduling of cranes, it is possible to reduce energy consumption, thereby…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
In this paper, we present an advanced wind turbine control scheme for power maximization as well as for active power control, which is designed using $\mathcal{H}_\infty$ loop-shaping. Our approach involves the synthesis of two separate…
Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper…
Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions in the human body. Planning motions safely within…
Drift control is significant to the safety of autonomous vehicles when there is a sudden loss of traction due to external conditions such as rain or snow. It is a challenging control problem due to the presence of significant sideslip and…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
LLM-powered coding agents, which operate in iterative loops (turns) to solve software engineering tasks, are becoming increasingly powerful. However, their practical deployment is hindered by significant and unpredictable costs. This…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
The application of nonlinear control schemes to electro-hydraulic actuators often requires several alterations in the design of the controllers during their implementation. This is to overcome challenges that frequently arise in such…
Wire-harnessing tasks pose great challenges to be automated by the robot due to the complex dynamics and unpredictable behavior of the deformable wire. Traditional methods, often reliant on dual-robot arms or tactile sensing, face…
Regrasping a suture needle is an important yet time-consuming process in suturing. To bring efficiency into regrasping, prior work either designs a task-specific mechanism or guides the gripper toward some specific pick-up point for proper…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…
Stuck pipe incidents are one of the major challenges in drilling engineering,leading to massive time loss and additional costs.To address the limitations of insufficient long sequence modeling capability,the difficulty in accurately…
This paper presents three types of sliding mode controllers for a magnetic levitation system. First, a proportional-integral sliding mode controller (PI-SMC) is designed using a new switching surface and a proportional plus power rate…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…