相关论文: Dynamic Coupling and Indirect Control of Jointed R…

Exploration of various applications is the frontier of research on inflatable robots. We proposed an articulated robots consisting of multiple pneumatic bladder links connected by rolling contact joints called Hillberry joints. The bladder…

This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…

Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods,…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…

Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…

Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…

Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

We study two mechanisms of locomotion of a body in an inviscid fluid, which take place without the shedding of vorticity; we consider two simple examples of robots which are able to move along a straight trajectory. The first one consists…

While single-agent legged locomotion has witnessed remarkable progress, individual robots remain fundamentally constrained by physical actuation limits. To transcend these boundaries, we introduce Co-jump, a cooperative task where two…

Robots will become ubiquitously useful only when they can use few attempts to teach themselves to perform different tasks, even with complex bodies and in dynamical environments. Vertebrates, in fact, successfully use trial-and-error to…

Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…

An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…

This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…

Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…

The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…