Related papers: Emergency Stopping for Liquid-manipulating Robots

Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…

While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…

This paper proposes a robust optimal eco-driving control strategy considering multiple signalized intersections with uncertain traffic signal timing. A spatial vehicle velocity profile optimization formulation is developed to minimize the…

In this paper, we present a novel flow model and compensation strategy for high-viscosity fluid deposition that yields high quality parts in the face of large transient delays and nonlinearity. Robotic high-viscosity fluid deposition is an…

Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…

Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…

This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics.…

The controlled actuation of hydraulic and pneumatic actuators has unveiled fresh and thrilling opportunities for designing mobile robots with adaptable structures. Previously reported rolling robots, which were powered by fluidic systems,…

This paper presents a model based experimental investigation to demonstrate the usefulness of an active damping strategy to manage fluid sloshing motion in spacecraft tanks. The active damping strategy is designed to reduce the degrading…

In advanced manufacturing, strict safety guarantees are required to allow humans and robots to work together in a shared workspace. One of the challenges in this application field is the variety and unpredictability of human behavior,…

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…

A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…

Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints…

The inherent flexibility of soft robots offers numerous advantages, such as enhanced adaptability and improved safety. However, this flexibility can also introduce challenges regarding highly uncertain and nonlinear motion. These challenges…

We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as…

Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…

Robotic manipulation in dynamic and unstructured environments requires safety mechanisms that exploit what is known and what is uncertain about the world. Existing safety filters often assume full observability, limiting their applicability…

This paper proposes a novel pneumatic soft robotic hand that incorporates a mechanism that can switch the airflow path using a single airflow control. The developed hand can control the finger motion and operate the surface friction…

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…

This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…