相关论文: "Passive Mechanical Realizations of Bicubic Impeda…
This report includes the original manuscript and the supplementary material of "Realization of Biquadratic Impedance as Five-Element Bridge Networks".
This report presents some supplementary material to the paper entitled "Passive controller realization of a biquadratic impedance with double poles and zeros as a seven-element Series-parallel network for effective mechanical control" [1].
This paper investigates the circuit synthesis problem for a certain positive-real bicubic (third-order) admittance with a simple pole at the origin (s = 0) to be realizable as a one-port series-parallel damper-spring-inerter circuit…
This is a supplementary material to "Realization of three-port spring networks with inerter for effective mechanical control" [1], which provides the detailed proofs of some results. For more background information, refer to [2]-[32] and…
An important open problem in the synthesis of passive controllers is to obtain a passive network that realizes an arbitrary given impedance function and contains the least possible number of elements. This problem has its origins in…
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…
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…
This paper contains material originally presented in the first submission of the paper "On the Optimal Control of Impulsive Hybrid Systems On Riemannian Manifolds" to SIAM Journal on Control and Optimization on the 28th of February, 2012.…
This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of this document is to show how IMU biases can be incorporated…
The present review presents the authors previous results on the topic from the title in a new light. Most of the previous results were obtained using the techniques of antilinear Hilbert-Schmidt mappings of one Hilbert pace into another,…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
In this supplementary materials section, we provide (i) additional information on the numerical simulations of the main work, (ii) the derivation of all prefactors in the analytical theory, and (iii) unpublished experiments of the contact…
In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbances. Previous works on this problem have required a number of…
In this paper a review of some important impedance-induced instabilities are briefly described for both the longitudinal and transverse planes. The main tools used nowadays to predict these instabilities and some considerations about…
To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in…
This paper develops a comparative framework for the design of actuated inertial appendages for planar, aerial reorientation. We define the Inertial Reorientation template, the simplest model of this behavior, and leverage its linear…
This document contains the appendices for our paper titled ``Performance Bounds for Passive Sensing in Asynchronous ISAC Systems." The appendices include rigorous derivations of key formulas, detailed proofs of the theorems and propositions…
As inelastic structures are ubiquitous in many engineering fields, a central task in computational mechanics is to develop accurate, robust and efficient tools for their analysis. Motivated by the poor performances exhibited by standard…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…