相关论文: Inverse Statics Optimization for Compound Tensegri…

Knowing the state of a robot is critical for many problems, such as feedback control. For continuum robots, state estimation is an incredible challenge. First, the motion of a continuum robot involves many kinematic states, including poses,…

<jats:title>Abstract</jats:title> <jats:p>In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning…

The application of variational principles for analyzing problems in the physical sciences is widespread. Cantilever-like problems, where one end is fixed and the other end is free, have received less attention in terms of their stability…

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…

We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…

Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…

This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…

In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…

Tensor regression is an important tool for tensor data analysis, but existing works have not considered the impact of outliers, making them potentially sensitive to such data points. This paper proposes a low tubal rank robust regression…

Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…

Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…

Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…

Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…

Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…

This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the…

Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…

Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…

This work studies the inverse optimality of input-to-state stabilizing controllers with input-output stability guarantees for nonlinear homogeneous systems. We formulate a new inverse optimal control problem, where the cost functional…