Related papers: Control of a Lightweight Flexible Robotic Arm Usin…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
This paper reports the design and implementation of a three-link brachiation robot. The robot is able to travel along horizontal monkey bars using continuous arm swings. We build a full order dynamics model for the robot and formulate each…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
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…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across complex terrains. While prior work has separately explored…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…