相关论文: Geometric Impedance Control on SE(3) for Robotic M…

This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment.…

In this paper, we present an impedance control framework on the SE(3) manifold, which enables force tracking while guaranteeing passivity. Building upon the unified force-impedance control (UFIC) and our previous work on geometric impedance…

Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…

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…

In this paper, a comparison analysis between geometric impedance controls (GICs) derived from two different potential functions on SE(3) for robotic manipulators is presented. The first potential function is defined on the Lie group,…

This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…

This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…

This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D…

An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…

This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…

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…

This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…

Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…

Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However,…

Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…

In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…

The goal of this paper is to present a rigorous and intrinsic formulation of a Riemannian PD-regulator of the robot's tool, The first one is based upon the Lasalle's invariance principle, we use it to control the tool's position in the…