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Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
Fluidic locomotion of flapping Micro Aerial Vehicles (MAVs) can be very complex, particularly when the rules from insect flight dynamics (fast flapping dynamics and light wings) are not applicable. In these situations, widely used averaging…
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
This paper presents a passive control method for multiple degrees of freedom in a soft pneumatic robot through the combination of flow resistor tubes with series inflatable actuators. We designed and developed these 3D printed resistors…
The objective of this research is to mitigate vibrations in induction motors. To achieve this goal, a discontinuous pulse width modulation (PWM) control strategy based on carrier wave modulation is proposed for multilevel inverters. This…
We propose to combine the active vortex generators with the particle image velocimetry (PIV) measurements and post-processing streamwise vortex characterization algorithms into a feedback based closed-loop control system for wind turbine…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…
Previous results reported in the robotics literature show the relationship between time-delay control (TDC) and proportional-integral-derivative control (PID). In this paper, we show that incremental nonlinear dynamic inversion (INDI) -…
This work is concerned with practical stabilization of nonlinear systems by means of inf-convolution-based sample-and-hold control. It is a fairly general stabilization technique based on a generic non-smooth control Lyapunov function (CLF)…
Soft pneumatic actuators have seen applications in many soft robotic systems, and their pressure-driven nature presents unique challenges and opportunities for controlling their motion. In this work, we present a new concept: designing and…
This paper solves the problem of regulating the rotor speed tracking error for wind turbines in the full-load region by an effective robust-adaptive control strategy. The developed controller compensates for the uncertainty in the control…
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
Lane-free vehicle movement has been recently proposed for connected automated vehicles (CAV) due to various potential advantages. One such advantage stems from the fact that incremental changes of the road width in lane-free traffic lead to…
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…
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…