相关论文: A Sliding Mode Controller Based on Timoshenko Beam…

The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…

We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…

To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…

This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in $SE(3)$ as a coupled system. The proposed controller is designed to enable…

Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…

The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…

Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that limit performance in human environments. More designs have…

Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including…

Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force torque sensors. While recent reinforcement learning approaches aim to bypass these constraints, they often…

The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. Methods for controlling the class of underactuated systems are available in the literature. However, this particular system…

This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the…

Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared to conventional rigid robots. Therefore, the controller must be able to handle the dynamic oscillatory effect mainly…

In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves…

Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…

Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks such as key insertion under uncertainty. To replicate this capability, we introduce Tactile Memory with Soft Robot (TaMeSo-bot), a…

In this study, a new approach based on adaptive dynamic programming (ADP) is proposed to control permanent magnet synchronous motors (PMSMs). The objective of this paper is to control the torque and consequently the speed of a PMSM when an…

The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…

High-DOF dexterous hands require compact actuation, rich sensing, and reliable thermal behavior, but conventional designs often occupy valuable in-hand space, increase end-effector mass, and suffer from heat accumulation near the hand.…

This paper presents a miniature tension sensor using a photo-reflector, designed for compact tendon-driven grippers and robotic hands. The proposed sensor has a small form factor of 13~mm x 7~mm x 6.5~mm and is capable of measuring tensile…

Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…