相关论文: Adaptive Control of Underactuated Planar Pronking …

Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…

A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these…

As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…

Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…

In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…

Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…

Control tuning and adaptation present a significant challenge to the usage of robots in diverse environments. It is often nontrivial to find a single set of control parameters by hand that work well across the broad array of environments…

The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machine learning. The kinematic parameters pertaining to the…

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…

The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…

Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…

Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…

The nonlinearity and hysteresis of soft robot motions present challenges for control. To solve these issues, the Jacobian controller has been applied to approximate the nonlinear behaviors in a linear format. Accurate controllers like…

When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…