Related papers: Intention assimilation control for accurate tracki…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
Robotic-assisted procedures offer enhanced precision, but while fully autonomous systems are limited in task knowledge, difficulties in modeling unstructured environments, and generalisation abilities, fully manual teleoperated systems also…
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental challenges due to limits in communication delays. The proposed…
Achieving precise target jumping with legged robots poses a significant challenge due to the long flight phase and the uncertainties inherent in contact dynamics and hardware. Forcefully attempting these agile motions on hardware could…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This paper presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is…
In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasingly evident. Building on the foundation of Fractal…
Building on our previous work, this paper investigates the effectiveness of interpolating control (IC) for real-time trajectory tracking. Unlike prior studies that focused on trajectory tracking itself or UAV stabilization control in…
Highly dynamic tasks that require large accelerations and precise tracking usually rely on accurate models and/or high gain feedback. While kinematic optimization allows for efficient representation and online generation of hitting…
In teleoperation of contact-rich manipulation tasks, selecting robot impedance is critical but difficult. The robot must be compliant to avoid damaging the environment, but stiff to remain responsive and to apply force when needed. In this…
Achieving precise control of robotic tool paths is often challenged by inherent system misalignments, unmodeled dynamics, and actuation inaccuracies. This work introduces an Iterative Learning Control (ILC) strategy to enable precise…
Various spacecraft have sensors that repeatedly perform a prescribed scanning maneuver, and one may want high precision. Iterative Learning Control (ILC) records previous run tracking error, adjusts the next run command, aiming for zero…
Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning. This work proposes a novel telemanipulation architecture…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
This paper presents a nonlinear integrated guidance and control (IGC) approach for flexible leader-follower formation flight of fixed-wing unmanned aerial vehicles (UAVs) while accounting for high-fidelity aerodynamics and thrust dynamics.…
Teleoperation inherently relies on the human operator acting as a closed-loop controller to actively compensate for hardware imperfections, including latency, mechanical friction, and lack of explicit force feedback. Standard Behavior…
Iterative Learning Control (ILC) can achieve perfect tracking performance for mechatronic systems. The aim of this paper is to present an ILC design tutorial for industrial mechatronic systems. First, a preliminary analysis reveals the…
Assist-as-needed (AAN) control aims at promoting therapeutic outcomes in robot-assisted rehabilitation by encouraging patients' active participation. Impedance control is used by most AAN controllers to create a compliant force field around…
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…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…