Results 61 to 70 of about 46,986 (307)

Identifying Physical Interactions in Contact‐Based Robot Manipulation for Learning from Demonstration

Advanced Robotics Research, EarlyView.
Robots can learn manipulation tasks from human demonstrations. This work proposes a versatile method to identify the physical interactions that occur in a demonstration, such as sequences of different contacts and interactions with mechanical constraints.
Alex Harm Gert‐Jan Overbeek, Herman van der Kooij, Douwe Dresscher, Mark Vlutters   +3 more
wiley   +1 more source

Adaptive feedforward control design for gust loads alleviation and LCO suppression

, 2014
An adaptive feedforward controller is designed for gust loads alleviation and limit cycle oscillations suppression. Two sets of basis functions, based on the finite impulse response and modified finite impulse response approaches, are investigated to ...
Wang, Yongzhi, Li, F., Li, E., Ghandchi-Therani, M., Da Ronch, A., Wang, Y., Ghandchi-Tehrani, Maryam   +6 more
core   +1 more source

Feedforward Control in the Presence of Input Nonlinearities: A Learning-based Approach

, 2022
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input nonlinearities, which are ...
Portegies, Jim, Oomen, Tom A.E., Kostić, Dragan, Van Hulst, Jilles (author), Yan, Kai Wa, Poot, M.M., van Hulst, Jilles, Portegies, Jacobus W., Yan, Kai Wa (author), Portegies, Jim (author), Oomen, Tom, Poot, Maurice (author), Oomen, T.A.E. (author), Yan, Kai Wa (Kelvin), Oomen, T.A.E., Poot, Maurice, Kostic, Dragan (author), van Hulst, Jilles; id_orcid   +17 more
core   +1 more source

Continual Learning for Multimodal Data Fusion of a Soft Gripper

Advanced Robotics Research, EarlyView.
Models trained on a single data modality often struggle to generalize when exposed to a different modality. This work introduces a continual learning algorithm capable of incrementally learning different data modalities by leveraging both class‐incremental and domain‐incremental learning scenarios in an artificial environment where labeled data is ...
Nilay Kushawaha, Egidio Falotico
wiley   +1 more source

LSTM-Inversion-Based Feedforward–Feedback Nanopositioning Control

Machines
This work proposes a two-degree of freedom (2DOF) controller for motion tracking of nanopositioning devices, such as piezoelectric actuators (PEAs), with a broad bandwidth and high precision.
Ruocheng Yin, Juan Ren
doaj   +1 more source

Performance indices for feedforward control

, 2015
In this paper, a performance benchmark for the assessment of two feedforward control architectures for the load disturbance compensation problem is proposed.
Hägglund, T., Guzmán, J. L, Veronesi, Max, VERONESI, Massimiliano, VISIOLI, Antonio, Guzmán, José Luis, Hägglund, Tore   +6 more
core   +1 more source

A State‐Adaptive Koopman Control Framework for Real‐Time Deformable Tool Manipulation in Robotic Environmental Swabbing

Advanced Robotics Research, EarlyView.
This work presents a state‐adaptive Koopman linear quadratic regulator framework for real‐time manipulation of a deformable swab tool in robotic environmental sampling. By combining Koopman linearization, tactile sensing, and centroid‐based force regulation, the system maintains stable contact forces and high coverage across flat and inclined surfaces.
Siavash Mahmoudi, Amirreza Davar, Dongyi Wang   +2 more
wiley   +1 more source

Observer-Based Model Reference Tracking Control of the Markov Jump System with Partly Unknown Transition Rates

Applied Sciences, 2023
This paper deals with the model reference tracking control problem of linear systems based on the observer for Markov jump systems with unknown transition rates.
Weiqiang Song, Aijuan Jin
doaj   +1 more source

Efficient and Robust Standing Postures of Quadruped Robots

Advanced Robotics Research, EarlyView.
A calibrated static framework estimates load, optimizes torques, and adapts posture so quadruped robots stand efficiently and robustly under external payloads, achieving up to 50% lower torque demand. Inspired by the natural posture adjustments of animals under external loading, this article presents an optimization‐based framework for minimizing joint
Mohamad Kanaan, Hamza Jomaa, Jack Challita, Kawthar Zaidan, Riad Saab, Hussein Hussein   +5 more
wiley   +1 more source

An Iterative Tuning Method for Feedforward Control of Parallel Manipulators Considering Nonlinear Dynamics

Chinese Journal of Mechanical Engineering
Feedforward control is one of the most effective control techniques to increase the robot’s tracking accuracy. However, most of the dynamic models used in the feedforward controllers are linearly simplified such that the nonlinear and time-varying ...
Xiaojian Wang, Jun Wu
doaj   +1 more source