相关论文: Force-Sensor-Less Bilateral Teleoperation Control …

Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…

We study the problem of master-slave synchronization and control of totalistic cellular automata (CA) by putting a fraction of sites of the slave equal to those of the master and finding the distance between both as a function of this…

Demonstration data plays a key role in learning complex behaviors and training robotic foundation models. While effective control interfaces exist for static manipulators, data collection remains cumbersome and time intensive for mobile…

Teleoperation systems are essential for efficiently collecting diverse and high-quality robot demonstration data, especially for complex, contact-rich tasks. However, current teleoperation platforms typically lack integrated force feedback,…

A novel method for the numerical prediction of the slowly varying dynamics of nonlinear mechanical systems has been developed. The method is restricted to the regime of an isolated nonlinear mode and consists of a two-step procedure: In the…

Recently, the so-called cell-free Massive MIMO architecture has been introduced, wherein a very large number of distributed access points (APs) simultaneously and jointly serve a much smaller number of mobile stations (MSs). A variant of…

Teleoperation of high-precision manipulation is con-strained by tight success tolerances and complex contact dy-namics, which make impending failures difficult for human operators to anticipate under partial observability. This paper…

In power distribution systems, the growing penetration of renewable energy resources brings new challenges to maintaining voltage safety, which is further complicated by the limited model information of distribution systems. To address…

Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…

In this article, we propose Echo, a novel joint-matching teleoperation system designed to enhance the collection of datasets for manual and bimanual tasks. Our system is specifically tailored for controlling the UR manipulator and features…

Scaled model experiments are commonly used in various engineering fields to reduce experimentation costs and overcome constraints associated with full-scale systems. The relevance of such experiments relies on dimensional analysis and the…

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…

Consider a dynamical system $u \mapsto x, \dot{x} = f_{nl}(x,u)$ where $f_{nl}$ is a nonlinear (convex or nonconvex) function, or a combination of nonlinear functions that can eventually switch. We present, in this preliminary work, a…

We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…

We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement…

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…

We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…

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…

Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…

Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…