Related papers: Gyroscopically Stabilized Robot: Balance and Track…
We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we extend this for hybrid robotic systems, an alternating…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control,…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern…
The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. Methods for controlling the class of underactuated systems are available in the literature. However, this particular system…
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
. This paper is aimed to discuss and compare three of the most famous Control Theories on a Two wheeled Self Balancing Robot Simulation using Robot Operating System (ROS) and Gazebo. Two Wheeled Self Balancing Robots are one of the most…
This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…
Stability guarantees are crucial when ensuring a fully autonomous robot does not take undesirable or potentially harmful actions. Unfortunately, global stability guarantees are hard to provide in dynamical systems learned from data,…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…