相关论文: Dynamic single-input control of multi-state multi-…
In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…
Soft robots are known for their ability to perform tasks with great adaptability, enabled by their distributed, non-uniform stiffness and actuation. Bending is the most fundamental motion for soft robot design, but creating robust, and…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
Complex and even chaotic dynamics, though prevalent in many natural and engineered systems, has been largely avoided in the design of electromechanical systems due to concerns about wear and controlability. Here, we demonstrate that complex…
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation,…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
The desire to exert active optical control over matter is a unifying theme across multiple scientific disciplines, as exemplified by all-optical magnetic switching, light-induced metastable or exotic phases of solids and the coherent…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, achieving high-performance regulation across both pressure polarities remains challenging due…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
We develop an automated computational modeling framework for rapid gradient-based design of multistable soft mechanical structures composed of non-identical bistable unit cells with appropriate geometric parameterization. This framework…
Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…
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…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
The technological transition from soft machines to soft robots necessarily passes through the integration of soft electronics and sensors. This allows for the establishment of feedback control systems while preserving the softness of the…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Natural organisms can convert environmental stimuli into sensory feedback to regulate their body and realize active adaptivity. However, realizing such a feedback-regulation mechanism in synthetic material systems remains a grand challenge.…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…