相关论文: Adaptive Control of Underactuated Planar Pronking …

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…

Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…

Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…

This paper presents a neural network (NN) based adaptive feedback regulator to ensure the lateral and longitudinal stability and regulate the desired walking velocity of a lower-limb exoskeleton under model uncertainty. The traditional…

In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…

Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…

Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…

Adaptive control can address model uncertainty in control systems. However, it is preliminarily designed for tracking control. Recent advancements in the control of quadruped robots show that force control can effectively realize agile and…

A unified solution to adaptive approximation-based control for nonlinear systems with accurate and inaccurate state measurement is synthesized in this study. Starting from the standard adaptive approximation-based controller with accurate…

Modern non-linear model-based controllers require an accurate physics model and model parameters to be able to control mobile robots at their limits. Also, due to surface slipping at high speeds, the friction parameters may continually…

This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…

Step adjustment can improve the gait robustness of biped robots, however the adaptation of step timing is often neglected as it gives rise to non-convex problems when optimized over several footsteps. In this paper, we argue that it is not…

A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…

Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…

Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…

Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…