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

This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…

New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear…

In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…

Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…

This paper investigates robotic peg-in-hole assembly using the Elementary Dynamic Actions (EDA) framework, which models contact-rich tasks through a combination of submovements, oscillations, and mechanical impedance. Rather than focusing…

This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…

This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…

Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…

The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…

Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…

This paper presents a theoretical framework for analyzing the stability of higher-order geometric nonlinear control laws for attitude control on the Special Orthogonal Group $\mathrm{SO(3)}$. In particular, the paper extends existing…

Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…

To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…

In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…

In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…

This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…

This paper presents a novel control protocol for distance and orientation formation control of rigid bodies, whose sensing graph is a static and undirected tree, in the special Euclidean group SE(3). The proposed control laws are…

This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…

Linear Parameter Varying Dynamical Systems (LPV-DS) encode trajectories into an autonomous first-order DS that enables reactive responses to perturbations, while ensuring globally asymptotic stability at the target. However, the current…

Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…