相关论文: Real-time Two-tape Control System in Vine robots
Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…
In this theoretical work, we propose an all-optical method for fast, precise manipulation of two-dimensional multilayers by transferring orbital angular momentum from phase-structured light (e.g. vortex beams) to a 2D material flake. We…
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…
This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
Venipucture is a common step in clinical scenarios, and is with highly practical value to be automated with robotics. Nowadays, only a few on-shelf robotic systems are developed, however, they can not fulfill practical usage due to varied…
The Venus flytrap (Dionaea muscipula) does not only serve as the textbook model for a carnivorous plant, but also has long intrigued both botanists and engineers with its rapidly closing leaf trap. The trap closure is triggered by two…
The paper discusses an adaptive strategy to effectively control nonlinear manipulation motions of a dual arm robot (DAR) under system uncertainties including parameter variations, actuator nonlinearities and external disturbances. It is…
Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while…
Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception, visual aliasing, occlusion, and complex vehicle dynamics.…
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…
This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…
This paper deals with the design of a cost effective automated tape laying system (ATL system) with integrated uniaxial force control to ensure the necessary compaction forces as well as with an accurate temperature control to guarantee the…