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Position control devices enable precise selection, but significant clutching degrades performance. Clutching can be reduced with high control-display gain or pointer acceleration, but there are human and device limits. Elastic rate control…
A major challenge in todays power grid is to manage the increasing load from electric vehicle (EV) charging. Demand response (DR) solutions aim to exploit flexibility therein, i.e., the ability to shift EV charging in time and thus avoid…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Using large datasets in machine learning has led to outstanding results, in some cases outperforming humans in tasks that were believed impossible for machines. However, achieving human-level performance when dealing with physically…
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization…
The use of partially automated driving systems raises concerns about potential responsibility issues, posing risk to the system safety, acceptance, and adoption of these technologies. The concept of meaningful human control has emerged in…
Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant…
The majority of electric vehicles (EVs) are charged domestically overnight, where the precise timing of power allocation is not important to the user, thus representing a source of flexibility that can be leveraged by charging control…
As electric vehicle (EV) adoption is growing year after year, there is no doubt that EVs will occupy a significant portion of transporting vehicle in the near future. Although EVs have benefits for environment, large amount of…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
With the recent advances in mobile energy storage technologies, electric vehicles (EVs) have become a crucial part of smart grids. When EVs participate in the demand response program, the charging cost can be significantly reduced by taking…
Smart interactions among the smart grid, aggregators and EVs can bring various benefits to all parties involved, e.g., improved reliability and safety for the smart gird, increased profits for the aggregators, as well as enhanced self…
Robot systems for teleoperation commonly use a spring-like force pulling the follower robot towards the leader's position to track their movements. With this control strategy, the tracking accuracy deteriorates when the follower' stiffness…
In recent years, developments in plug in hybrid electric vehicles have provided various environmental and economic advantages. In the future smart grids, electric vehicles are seen as an important means of transportation to reduce…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
Electric vehicles (EVs) have the potential to reduce grid stress through smart charging strategies while simultaneously meeting user demand. This requires accurate forecasts of key charging parameters, such as energy demand and connection…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
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…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Recent proliferation in electric vehicles (EVs) are posing profound impacts over the operation of electrical grids. In particular, due to the physical constraints on charging stations' capacity and uncertainty in charging demand, it becomes…