相关论文: A ROS2-based software library for inverse dynamics…
Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terrains and survive harsh impacts. They are hard to control,…
Robotic tasks, like reaching a pre-grasp configuration, are specified in the end effector space or task space, whereas, robot motion is controlled in joint space. Because of inherent actuation errors in joint space, robots cannot achieve…
Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage - grasping the desired…
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
Motivated by the recursive Newton-Euler formulation, we propose a novel cascaded Gaussian process learning framework for the inverse dynamics of robot manipulators. This approach leads to a significant dimensionality reduction which in turn…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
This paper presents an extension of the OpenAI Gym for robotics using the Robot Operating System (ROS) and the Gazebo simulator. The content discusses the software architecture proposed and the results obtained by using two Reinforcement…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation…
Operator learning offers a robust framework for approximating mappings between infinite-dimensional function spaces. It has also become a powerful tool for solving inverse problems in the computational sciences. This chapter surveys…
Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…
We propose an algorithm to compute the dynamics of articulated rigid-bodies with different sensor distributions. Prior to the on-line computations, the proposed algorithm performs an off-line optimisation step to simplify the computational…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
Robotic systems react to different environmental stimuli, potentially resulting in the dynamic reconfiguration of the software controlling such systems. One effect of such dynamism is the reconfiguration of the software architecture…
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…