相关论文: Modular Lie Algebraic PDE Control of Multibody Fle…
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challenges due to DLOs' infinite degrees of freedom, complex…
Input-affine dynamical systems often arise in control and modeling scenarios, such as the data-driven case when state-derivative observations are recorded under bounded noise. Common tasks in system analysis and control include optimal…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
Many chemical processes exhibit diverse timescale dynamics with a strong coupling between timescale sensitive variables. Model predictive control with a non-uniformly spaced optimisation horizon is an effective approach to multi-timescale…
Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the…
In this paper, we address the robustness of parabolic-elliptic systems under boundary control. A sliding mode control strategy is proposed to reject matched perturbations. The stability analysis establishes finite-time convergence of the…
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessible control parameter.…
Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…
This paper represents a systematic way for generation of Aaria, a simulated model for serial manipulators for the purpose of kinematic or dynamic analysis with a vast variety of structures based on Simulink SimMechanics. The proposed model…
This paper studies the robustness of a PDE backstepping delay-compensated boundary controller for a reaction-diffusion partial differential equation (PDE) with respect to a nominal delay subject to stochastic error disturbance. The…
The deformable linear objects (DLOs) are common in both industrial and domestic applications, such as wires, cables, ropes. Because of its highly deformable nature, it is difficult for the robot to reproduce human's dexterous skills on…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…
Flexible mechanical structures can undergo large deformations under small loads, enabling large, complex, and nonlinear wave responses under finite-frequency driving. Here, we study a dynamically driven canonical flexible mechanical…
We introduce a method to design topological mechanical metamaterials that are not constrained by Newtonian dynamics. The unit cells in a mechanical lattice are subjected to active feedback forces that are processed through autonomous…
Skeletal muscles are living tissues that can undergo large deformations in short periods of time and that can be activated to produce force. In this paper we use the principles of continuum mechanics to propose a dynamic, fully non-linear,…