相关论文: Adaptive Preload Control of Cable-Driven Parallel …

Teleoperation plays a critical role in intuitive robot control and imitation learning, particularly for complex tasks involving mobile manipulators with redundant degrees of freedom (DoFs). However, most existing master controllers are…

Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…

This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…

Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been…

This paper proposes an adaptive gravity compensation (AGC) control strategy for a cable-driven upper-limb exosuit intended to assist the wearer with lifting tasks. Unlike most model-based control techniques used for this human-robot…

We consider transporting a heavy payload that is attached to multiple multirotors. The current state-of-the-art controllers either do not avoid inter-robot collision at all, leading to crashes when tasked with carrying payloads that are…

Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construction. However, this procedure is conducted with dangerous,…

We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…

Soft robots have gained increased popularity in recent years due to their adaptability and compliance. In this paper, we use a digital twin model of cable-driven soft robots to learn control parameters in simulation. In doing so, we take…

This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…

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…

This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…

Multi-Agent Aerial Load Transport Systems (MAATS) offer greater payload capacity and fault tolerance than single-drone solutions. However, they have an underdetermined tension allocation problem that leads to uneven energy distribution,…

Deadlock-free dynamic network reconfiguration process is usually studied from the routing algorithm restrictions and resource reservation perspective. The dynamic nature yielded by the transition process from one routing function to another…

Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…

The collaboration between humans and robots is critical in many robotic applications, especially in those requiring physical human-robot interaction (pHRI). Previous research in pHRI has largely focused on robotic manipulators, employing…

Quadruped robots manifest great potential to traverse rough terrains with payload. Numerous traditional control methods for legged dynamic locomotion are model-based and exhibit high sensitivity to model uncertainties and payload…

Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…

Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…

The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…