相关论文: Real-time Two-tape Control System in Vine robots

This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes.…

The research interest in mobile robots with independent steering wheels has been increasing over recent years due to their high mobility and better payload capacity over the systems using omnidirectional wheels. However, with more…

In distribution networks, there are slow controlling devices and fast controlling devices for Volt-VAR regulation. These slow controlling devices, such as capacitors or voltage regulators, cannot be operated frequently and should be…

One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…

This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…

This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner channel and was developed with the ability to perform…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…

This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine…

We present technical results justifying a method for guidance of a Dubins-like vehicle with saturated control towards a target in a steady simply connected maze-like environment. The vehicle always has access to to the target relative…

We present a robotic table tennis platform that achieves a variety of hit styles and ball-spins with high precision, power, and consistency. This is enabled by a custom lightweight, high-torque, low rotor inertia, five degree-of-freedom arm…

In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…

Autonomous navigation is the key to achieving the full automation of agricultural research and production management (e.g., disease management and yield prediction) using agricultural robots. In this paper, we introduced a vision-based…

Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has brought a breakthrough for current cellular…

In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientation for posture correction. In compact V-shaped platforms,…

In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…

This paper examines a robust data-driven approach for the safe deployment of systems with nonlinear dynamics using their imperfect digital twins. Our contribution involves proposing a method that fuses the digital twin's nominal trajectory…