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We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg depending on how and what it is attached to, e.g., a…
Self-adaptive systems are capable of adjusting their behavior to cope with the changes in environment and itself. These changes may cause runtime uncertainty, which refers to the system state of failing to achieve appropriate…
Researchers have identified various sources of tool positioning errors for articulated industrial robots and have proposed dedicated compensation strategies. However, these typically require individual, specialized experiments with separate…
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This paper introduces a user-friendly MATLAB toolbox,…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…
Robotic tasks, like reaching a pre-grasp configuration, are specified in the end effector space or task space, whereas, robot motion is controlled in joint space. Because of inherent actuation errors in joint space, robots cannot achieve…
Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and…
Complex and even chaotic dynamics, though prevalent in many natural and engineered systems, has been largely avoided in the design of electromechanical systems due to concerns about wear and controlability. Here, we demonstrate that complex…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…
This study focuses on designing and developing a mathematically based quadcopter rotational dynamics simulation framework for testing reinforcement learning (RL) algorithms in many flexible configurations. The design of the simulation…