Related papers: Real-Time Projected Adaptive Control for Closed-Ch…

The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…

This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…

Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…

Magnetic soft continuum robots (MSCRs) have emerged as powerful devices in endovascular interventions owing to their hyperelastic fibre matrix and enhanced magnetic manipulability. Effective closed-loop control of tethered magnetic devices…

Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…

Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…

Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…

This paper studies real-time collaborative robot (cobot) handling, where the cobot maneuvers an object under human dynamic gesture commands. Enabling dynamic gesture commands is useful when the human needs to avoid direct contact with the…

This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…

Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…

Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…

Controlling robots that dynamically engage in contact with their environment is a pressing challenge. Whether a legged robot making-and-breaking contact with a floor, or a manipulator grasping objects, contact is everywhere. Unfortunately,…

Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…

Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…

In this paper, a continuous-time adaptive actor-critic reinforcement learning (RL) controller is developed for drift-free nonlinear systems. Practical examples of such systems are image-based visual servoing (IBVS) and wheeled mobile robots…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modulation of cyclic motions in robotic applications. For this…