Related papers: Passive Phase-Oriented Impedance Shaping for Rapid…
Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
In the present research work, an attempt is made to develop a coupled non-linear turbulence-structure-damper model in a finite volume-finite difference (FV-FD) framework. Tuned liquid damper (TLD) is used as the additional damping system…
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…
Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…
This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of Cable-Driven Parallel Robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along the prescribed…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…
Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…
Dissipative particle dynamics (DPD) is an effective mesoscopic particle model with a lower computational cost than molecular dynamics because of the soft potentials that it employs. However, the soft potential is not strong enough to…
An LCL filter offers superior attenuation for high-frequency harmonics for three-phase grid-following inverters compared to LC and L filters. However, it also introduces an inherent resonance peak, which can lead to power quality issues or…
Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of…
Continuous control over azimuthal flow and shear in the edge of the Large Plasma Device (LAPD) has been achieved using a biasable limiter which has allowed a careful study of the effect of flow shear on pressure-gradient-driven turbulence…
With the growing size and complexity of turbulent flow models, data compression approaches are of the utmost importance to analyze, visualize, or restart the simulations. Recently, in-situ autoencoder-based compression approaches have been…