相关论文: Control Pneumatic Soft Bending Actuator with Feedf…

This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…

Legged locomotion demands controllers that are both robust and adaptable, while remaining compatible with task and safety considerations. However, model-free reinforcement learning (RL) methods often yield a fixed policy that can be…

Objective: This paper presents a force control scheme for brief isotonic holds in an isometrically contracted muscle tissue, with minimal overshoot and settling time to measure its shortening velocity, a key parameter of muscle function.…

Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…

Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…

The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity…

This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…

This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…

Based on recent advances in contraction methods in systems and control, in this paper we present the virtual differential passivity based control (v-dPBC) technique. This is a constructive design method that combines the concept of virtual…

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new…

Autonomous robots deployed in unknown search-and-rescue (SaR) environments can significantly improve the efficiency of the mission by assisting in fast localisation and rescue of the trapped victims. We propose a novel integrated…

Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under…

Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…

Uncertainty and unknown nonlinearity are often inevitable in the suspension systems, which were often solved using fuzzy logic system (FLS) or neural networks (NNs). However, these methods are restricted by the structural complexity of the…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

Long-horizon finite-control-set model predictive control (FCS-MPC) can improve transient regulation and flying-capacitor balancing in flying-capacitor three-level boost converters (FC-TLBCs). However, searching over switching sequences…

Husky Carbon, a robot developed by Northeastern University, serves as a research platform to explore unification of posture manipulation and thrust vectoring. Unlike conventional quadrupeds, its joint actuators and thrusters enable enhanced…

This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…

Tracking performance of physical-model-based feedforward control for interventional X-ray systems is limited by hard-to-model parasitic nonlinear dynamics, such as cable forces and nonlinear friction. In this paper, these nonlinear dynamics…

In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics kinematics and dynamics modeling. Proper controller designs…