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

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…

In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…

There have been attempts in reinforcement learning to exploit a priori knowledge about the structure of the system. This paper proposes a hybrid reinforcement learning controller which dynamically interpolates a model-based linear…

Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…

The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…

As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…

We propose a parallel massage robot with compliant joints based on the series elastic actuator (SEA), offering a unified force-position control approach. First, the kinematic and static force models are established for obtaining the…

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…

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 paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…

This work presents the design and the corresponding stability analysis of desired model based, joint position constrained, robot controller. Specifically, provided that the initial joint position tracking error signal starts below some…

For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…

Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…

Many robotic path planning problems are continuous, stochastic, and high-dimensional. The ability of a mobile manipulator to coordinate its base and manipulator in order to control its whole-body online is particularly challenging when self…

This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…

Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…