相关论文: Robust Single-Point Pushing with Force Feedback
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle. The robot moves straight…
Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…
Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…
Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…
Force-based multiphysics coupling methods have become popular since they provide a simple and efficient coupling mechanism, avoiding the difficulties in formulating and implementing a consistent coupling energy. They are also the only known…
The impact forces during switching operations of short-stroke actuators may cause bouncing, audible noise and mechanical wear. The application of soft-landing control strategies to these devices aims at minimizing the impact velocities of…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
This paper introduces a safe force/position tracking control strategy designed for Free-Floating Mobile Manipulator Systems (MMSs) engaging in compliant contact with planar surfaces. The strategy uniquely integrates the Control Barrier…
A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…
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…
Recent model simulations discovered unexpected non-monotonic features in the wear-free dry phononic friction as a function of the sliding speed. Here we demonstrate that a rather straight- forward application of linear-response theory,…
This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
Soft grippers, for stable grasping of objects, with high compliance could be considered a suitable candidate for replacement of conventional rigid grippers, and in recent years, they have been emerging exponentially in industries. Not only…
This paper concerns feedback stabilization of point vortex equilibria above an inclined thin plate and a three-plate configuration known as the Kasper Wing in the presence of an oncoming uniform flow. The flow is assumed to be potential and…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…