相关论文: Adaptive Gravity Compensation Control of a Cable-D…

This paper presents a comprehensive analysis of the contact force profile of a single-cell bidirectional soft pneumatic actuator, specifically designed to aid in the abduction and adduction of the shoulder for pediatric exosuits. The…

We develop a learning-based algorithm for the control of autonomous systems governed by unknown, nonlinear dynamics to satisfy user-specified spatio-temporal tasks expressed as signal temporal logic specifications. Most existing algorithms…

This paper proposes a geometric adaptive controller for a quadrotor unmanned aerial vehicle with artificial neural networks. It is assumed that the dynamics of a quadrotor is disturbed by arbitrary, unstructured forces and moments caused by…

In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…

We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…

In human-robot interactions, eye movements play an important role in non-verbal communication. However, controlling the motions of a robotic eye that display similar performance as the human oculomotor system is still a major challenge. In…

Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…

Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…

We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…

Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent and personalized assistance has significant implications,…

Axon guidance (AG) towards their target during embryogenesis or after injury is an important issue in the development of neuronal networks. During their growth, axons often face complex decisions that are difficult to understand when…

Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…

Upper-limb amputees face tremendous difficulty in operating dexterous powered prostheses. Previous work has shown that aspects of prosthetic hand, wrist, or elbow control can be improved through "intelligent" control, by combining…

Ensuring safety and adapting to the user's behavior are of paramount importance in physical human-robot interaction. Thus, incorporating elastic actuators in the robot's mechanical design has become popular, since it offers intrinsic…

Just like in humans vision plays a fundamental role in guiding adaptive locomotion, when designing the control strategy for a walking assistive technology, Computer Vision may bring substantial improvements when performing an…

This work presents a novel rehabilitation framework designed for a therapist, wearing an inertial measurement unit (IMU) suit, to virtually interact with a lower-limb exoskeleton worn by a patient with motor impairments. This framework aims…

This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…

In this paper we present a learning-based tracking controller based on Gaussian processes (GP) for a fault-tolerant hexarotor in a recovery maneuver. In particular, to estimate certain uncertainties that appear in a hexacopter vehicle with…

A control-theoretic framework for autonomous avatar-guided rehabilitation in virtual reality, based on interpretable, adaptive motor guidance through optimal control, is presented. The framework faces critical challenges in motor…

This paper proposes an adaptive dynamic programming-based adaptive-gain sliding mode control (ADP-ASMC) scheme for a fixed-wing unmanned aerial vehicle (UAV) with matched and unmatched disturbances. Starting from the dynamic of fixed-wing…