相关论文: Tethered Variable Inertial Attitude Control Mechan…

We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…

Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving…

This work focuses on the study of tethered fights of a micro quadcopter, with the aim of supplying continuous power to a small-sized aerial robot. Multiple features for facilitating the interaction between a tethered micro quadcopter and a…

In this paper, a flexible tether-net system is applied to capture the space debris and a numerical framework is established to explore its nonlinear dynamic behaviors, which comprises four principal phases: folding, spreading, contacting,…

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the…

Attitude control hardware for small satellites is often limited in power and space availability given the importance of the science instruments they exist to transport. To mitigate this, a dual-spin stabilized satellite actuated via…

In this letter, we present a novel bi-modal bi-copter robot called Skater, which is adaptable to air and various ground surfaces. Skater consists of a bi-copter moving along its longitudinal direction with two passive wheels on both sides.…

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…

There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…

In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are…

This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…

This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…

To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an…

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…

Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…

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…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…