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

This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…

Magnetic soft continuum robots (MSCRs) have emerged as powerful devices in endovascular interventions owing to their hyperelastic fibre matrix and enhanced magnetic manipulability. Effective closed-loop control of tethered magnetic devices…

In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…

A model predictive control (MPC) scheme for a permanent-magnet synchronous motor (PMSM) is presented. The torque controller optimizes a quadratic cost consisting of control error and machine losses repeatedly, accounting the voltage and…

The performance of a conventional model-based controller significantly depends on the accuracy of the modeled dynamics. The model of a plant's dynamics is subjected to errors in estimating the numerical values of the physical parameters,…

Muscle synergies have recently been utilised in myoelectric control systems. Thus far, all proposed synergy-based systems rely on matrix factorisation methods. However, this is limited in terms of task-dimensionality. Here, the potential…

Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…

Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…

This paper presents a new predictive second order sliding controller (PSSC) formulation for setpoint tracking of constrained linear systems. The PSSC scheme is developed by combining the concepts of model predictive control (MPC) and second…

An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…

This paper proposes a novel approach to controller design for MR-damped vehicle suspension system. This approach is predicated on the premise that the optimal control strategy can be learned through real-world or simulated experiments…

In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…

The main purpose of this research is to move the robotic arm (5DoF) in real-time, based on the surface Electromyography (sEMG) signals, as obtained from the wireless Myo gesture armband to distinguish seven hand movements. The sEMG signals…

Driving simulators are increasingly used in research and development. However, simulators often cause motion sickness due to downscaled motion and unscaled veridical visuals. In this paper, a motion cueing algorithm is proposed that reduces…

This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…

The Grid-Forming Inverter (GFMI) is an emerging topic that is attracting significant attention from both academic and industrial communities, particularly in the area of control design. The Decoupled Average Model-based Sliding Mode Current…

Untethered magnetic millirobots offer significant potential for minimally invasive cardiac therapies; however, achieving reliable autonomous control in pulsatile cardiac flow remains challenging. This work presents a vision-guided control…

Biomimetic, dexterous robotic hands have the potential to replicate much of the tasks that a human can do, and to achieve status as a general manipulation platform. Recent advances in reinforcement learning (RL) frameworks have achieved…

Within the missile guidance and control system the autopilot must overcome an array of variables and uncertainties to maintain tracking trajectory. A large uncertainty explored in this paper is the difference between the assumed flight…

Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather…