相关论文: Control of Soft Pneumatic Actuators with Approxima…

This paper presents an adaptive control strategy with LQ control of a quarter-car, which is ameliorated to smoothly follow the dynamically changing reference arm angle, in order to omit the heave sensor in this study. Linearized plant…

With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…

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…

This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…

Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…

We propose a quantum control scheme aimed at interacting systems that gives rise to highly selective coupling among their near-to-resonance constituents. Our protocol implements temporal control of the interaction strength, switching it on…

We applied the Self-Consistent Harmonic Approximation (SCHA), combined with coherent states formalism, to study the ferromagnetic resonance (FMR) in a ferromagentic/normal metal junction. Due to the interface interaction, the FMR-generated…

The mode shape function is difficult to determine in modeling manipulators with flexible links using the assumed mode method. In this paper, for a planar 3-RRR parallel manipulator with flexible actuation links, we provide a data-driven…

We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…

While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…

A nonlinear analytical model for the pressure dynamics in a vacuum chamber, pumped with a sputter ion pump (SIP), is proposed, discussed and experimentally evaluated. The model describes the physics of the pumping mechanism of SIPs in the…

Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…

Biological agents possess bodies that are mostly of soft tissues. Researchers have resorted to soft bodies to investigate Artificial Life (ALife)-related questions; similarly, a new era of soft-bodied robots has just begun. Nevertheless,…

Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control purposes…

Our study found that integrating shear piezo-transducers inside the beam offers a compact and efficient solution that enables localized damping control without compromising structural integrity. However, the conventional approach of placing…

This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…

This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…

This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work,…

Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…

Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…