相关论文: Quasi-Static Control of Discrete Cosserat Rod

This paper considers the backstepping design of state feedback controllers for coupled linear parabolic partial integro-differential equations (PIDEs) of Volterra-type with distinct diffusion coefficients, spatially-varying parameters and…

The rise of multi-section continuum robots (CRs) has captivated researchers and practitioners across diverse industries and medical fields. Accurate modeling of these dexterous manipulators continues to be a significant challenge. This…

Correlated with the trend of increasing degrees of freedom in robotic systems is a similar trend of rising interest in Spatio-Temporal systems described by Partial Differential Equations (PDEs) among the robotics and control communities.…

Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. These high-fidelity models are therefore ideal for designing…

Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…

We present the first controller for quasistatic robotic planar pushing with single-point contact using only force feedback. We consider a mobile robot equipped with a force-torque sensor to measure the force at the contact point with the…

In a recent article, we presented a framework to control nonlinear partial differential equations (PDEs) by means of Koopman operator based reduced models and concepts from switched systems. The main idea was to transform a control system…

In this paper we study robust output tracking and disturbance rejection of linear partial differential equation (PDE) models. We focus on demonstrating how the abstract internal model based controller design methods developed for "regular…

The spinning of slender viscous jets can be described asymptotically by one-dimensional models that consist of systems of partial and ordinary differential equations. Whereas the well-established string models possess only solutions for…

Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While the classic Cosserat rod theory…

This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

Inverse design of slender elastic structures underlies a wide range of applications in computer graphics, flexible electronics, biomedical devices, and soft robotics. Traditional optimization-based approaches, however, are often orders of…

In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a state feedback controller that minimizes deviations of the…

We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using a Cosserat model we derive, through variational principles, the…

We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we extend this for hybrid robotic systems, an alternating…

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,…

Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…

In the development of model predictive controllers for PDE-constrained problems, the use of reduced order models is essential to enable real-time applicability. Besides local linearization approaches, Proper Orthogonal Decomposition (POD)…

SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…