相关论文: An Experimental Study of Model-based Control for P…

Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…

Humans can produce complex whole-body motions when interacting with their surroundings, by planning, executing and combining individual limb movements. We investigated this fundamental aspect of motor control in the setting of autonomous…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…

This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…

This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…

This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

In this work, the hierarchical control strategy of template-based control for a bipedal robot is described. The axial force of a compliant leg is redirected to a point, called the virtual pivot point (VPP), of a 2D biped robot, which is…

This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM)…

Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…

In this paper, we address force-aware control and force distribution in robotic platforms with multi-fingered hands. Given a target goal and force estimates from tactile sensors, we design a controller that adapts the motion of the torso,…

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…

This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…

Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…

Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…

Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…