相关论文: Saturated control without velocity measurements fo…

This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains,…

We consider the design of a new class of passive iFIR controllers given by the parallel action of an integrator and a finite impulse response filter. iFIRs are more expressive than PID controllers but retain their features and simplicity.…

We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…

In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…

This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then…

In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion…

We present a simple model-free control algorithm that is able to robustly learn and stabilize an unknown discrete-time linear system with full control and state feedback subject to arbitrary bounded disturbance and noise sequences. The…

Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly…

The model-free control approach is an advanced control law that requires few information about the process to control. Since its introduction in 2008, numerous applications have been successfully considered, highlighting attractive…

Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…

Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…

In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…

Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…

Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…

A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions)…

Novel nonlinear damping control is proposed for the second-order systems. The proportional output feedback is combined with the damping term which is quadratic to the output derivative and inverse to the set-point distance. The global…

This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system…

Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique. This is a constructive design method that combines the concept of virtual…

This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…

There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical…