相关论文: Control of a Soft Robotic Arm Using a Piecewise Un…
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.…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
Autonomous grasping remains challenging as unlike humans, robots do not possess a sophisticated sensing nor delicate interaction capability with the real environment. Among other efforts that tried to close the gap between them,…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
In this paper, we study integrated estimation and control of soft robots. A significant challenge in deploying closed loop controllers is reliable proprioception via integrated sensing in soft robots. Despite the considerable advances…
Using results on the topology of moduli space of polygons [Jaggi, 92; Kapovich and Millson, 94], it can be shown that for a planar robot arm with $n$ segments there are some values of the base-length, $z$, at which the configuration space…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
Continuum and soft robots can transform diverse sectors, including healthcare, agriculture, marine, and space, thanks to their potential to adaptively interact with unstructured environments. These robots exhibit complex mechanics that pose…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to enable the dexterity that is required for in-hand manipulation.…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…