相关论文: Performance Analysis of Series Elastic Actuator ba…

We present Success weighted by Completion Time (SCT), a new metric for evaluating navigation performance for mobile robots. Several related works on navigation have used Success weighted by Path Length (SPL) as the primary method of…

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…

PUBLISHED ON IEEE/ASME TRANSACTIONS ON MECHATRONICS, DOI: 10.1109/TMECH.2021.3100150. Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As a consequence, sensor…

The energetic optimization problem, e.g., searching for the optimal switch- ing protocol of certain system parameters to minimize the input work, has been extensively studied by stochastic thermodynamics. In current work, we study this…

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…

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…

A transformation method based on elastic ray theory is proposed to control high frequency elastic waves. We show that ray path can be controlled in an exact manner, however energy distribution along the ray is only approximately controlled.…

We propose an AE-based transceiver for a WDM system impaired by hardware imperfections. We design our AE following the architecture of conventional communication systems. This enables to initialize the AE-based transceiver to have similar…

Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of…

Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…

In the context of networked control systems, event-triggered control (ETC) has emerged as a major topic due to its alleged resource usage reduction capabilities. However, this is mainly supported by numerical simulations, and very little is…

This study is part of research aiming at increasing the range of dynamic tasks for teleoperated field robotics in order to allow operators to use the full range of human motions without being limited by the dynamics of the robotic…

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…

An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of the model. When faults occur, the compromised model will…

Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic…

For the LISA mission, Tilt-To-Length (TTL) coupling is expected to be one of the dominant instrumental noise contributions after laser frequency noise is suppressed based, on assumptions on the size of the coupling and angular jitter…

As one of the Coordinated Multipoint (CoMP) techniques, Joint Transmission (JT) can improve the overall system performance. In this paper, from the load balancing perspective, we study how the maximum load can be reduced by optimizing JT…

The aggressive integration of distributed renewable sources is changing the dynamics of the electric power grid in an unexpected manner. As a result, maintaining conventional performance specifications, such as transient stability, may not…

Strongly contracting dynamical systems have numerous properties (e.g., incremental ISS), find widespread applications (e.g., in controls and learning), and their study is receiving increasing attention. This work starts with the simple…

Many drone-related applications (e.g., drone-aided video capture, drone traffic and safety management) require group communications between drones to efficiently disseminate data or reliably deliver critical information, making use of the…