相关论文: Quasi-Static Control of Discrete Cosserat Rod
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(3). This novel approach addresses limitations present in…
Fluid-based soft actuators are an attractive option for lightweight and human-safe robots. These actuators, combined with fluid pressure force feedback, are in principle a form of series-elastic actuation (SEA), in which nearly all…
Continuum and soft robots can transform diverse sectors, including healthcare, agriculture, marine, and space, thanks to their potential to adaptively interact with unstructured environments. These robots exhibit complex mechanics that pose…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
The paper presents a constraint-based collision model for Cosserat rods, able to handle dynamic or static contact between a large number of highly flexible structures. The model provides the required collision impulses prior to updating the…
Knowing the state of a robot is critical for many problems, such as feedback control. For continuum robots, state estimation is an incredible challenge. First, the motion of a continuum robot involves many kinematic states, including poses,…
To reduce the typical time-consuming routines of plant modeling for model-based controller designs, the fictitious reference iterative tuning (FRIT) has been proposed and has proven to be effective in many applications. However, it is…
We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
Piecewise affine (PWA) systems are widely used to model highly nonlinear behaviors such as contact dynamics in robot locomotion and manipulation. Existing control techniques for PWA systems have computational drawbacks, both in offline…
We address the motion planning problem for large multi-agent systems, utilizing Cosserat rod theory to model the dynamic behavior of vehicle formations. The problem is formulated as an optimal control problem over partial differential…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
This article provides an overview of the design of nonlinear feedback Cruise Controllers (CCs) for automated vehicles on lane-free roads. The feedback design problem is particularly challenging because of the various state constraints…
We present a nonlinear, geometrically exact, and thermodynamically consistent framework for modeling special Cosserat rods with evolving natural configurations. In contrast to the common usage of the point-wise Clausius-Duhem inequality to…
The challenge of constructing feedback control laws for risk-averse optimal control of partial differential equations (PDEs) with random coefficients is addressed. The control objective composes a tracking-type cost with the nonlinear…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
Soft robots exhibit inherent compliance and safety, which makes them particularly suitable for applications requiring direct physical interaction with humans, such as surgical procedures. However, their nonlinear and hysteretic behavior,…