相关论文: Efficient Model Learning and Adaptive Tracking Con…

Micromanipulation systems leverage automation and robotic technologies to improve the precision, repeatability, and efficiency of various tasks at the microscale. However, current approaches are typically limited to specific objects or…

The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…

Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…

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…

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

Non-contact manipulation is a promising methodology in robotics, offering a wide range of scientific and industrial applications. Among the proposed approaches, airflow stands out for its ability to project across considerable distances and…

Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…

The control and modeling of robot dynamics have increasingly adopted model-free control strategies using machine learning. Given the non-linear elastic nature of bionic robotic systems, learning-based methods provide reliable alternatives…

Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…

Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…

Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…