相关论文: A Hybrid Position/Force Controller for Joint Robot…

The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller…

Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…

We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…

In this paper, we propose a unified whole-body control framework for velocity-controlled mobile collaborative robots which can distribute task motion into the arm and mobile base according to specific task requirements by adjusting…

We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…

Nowadays, robots are applied in dynamic environments. For a robust operation, the motion planning module must consider other tasks besides reaching a specified pose: (self) collision avoidance, joint limit avoidance, keeping an advantageous…

This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…

This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…

Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…

In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…

Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings…

Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…

A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…