Related papers: Wrench-Aware Admittance Control for Unknown-Payloa…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
This paper presents a scheme to enhance payload manipulation using a robot collaborating with an overhead crane. In the current industrial practice, when the crane's payload has to be accurately manipulated and located in a desired…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
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…
Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this paper, we propose a…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…
Data-driven control methods such as data-enabled predictive control (DeePC) have shown strong potential in efficient control of soft robots without explicit parametric models. However, in object manipulation tasks, unknown external payloads…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…
Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements are used for load identification, contact detection, and…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload…
Successful human-robot teaming will require robots to adapt autonomously to a human teammate's internal state, where a critical element of such adaptation is the ability to estimate the human's workload in unknown situations. Existing…
Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…