相关论文: Control of a Lightweight Flexible Robotic Arm Usin…
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…
In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the…
Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control purposes…
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…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but…
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…
Task-space quadratic programming (QP) is an elegant approach for controlling robots subject to constraints. Yet, in the case of kinematic-controlled (i.e., high-gains position or velocity) robots, closed-loop QP control scheme can be prone…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…
The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Motion control of flexible joint robots (FJR) is challenged by inherent flexibility and configuration-dependent variations in system dynamics. While disturbance observers (DOB) can enhance system robustness, their performance is often…
Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstrating robust and dynamic locomotion with a learned motion…