Results 1 to 10 of about 261,514 (25)

Modular Controllers Facilitate the Co-Optimization of Morphology and Control in Soft Robots [PDF]

, 2023
Soft robotics is a rapidly growing area of robotics research that would benefit greatly from design automation, given the challenges of manually engineering complex, compliant, and generally non-intuitive robot body plans and behaviors. It has been suggested that a major hurdle currently limiting soft robot brain-body co-optimization is the fragile ...
arxiv   +1 more source

A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators [PDF]

arXiv, 2022
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot.
arxiv  

Scratch Team of Single-Rotor Robots and Decentralized Cooperative Transportation with Robot Failure [PDF]

arXiv, 2023
Achieving cooperative transportation by teams of aerial robots has been attracting attention owing to its flexibility with respect to payloads and robustness against failures. In this paper, we propose a flexible decentralized controller for the number of robots and the shapes of payloads in a cooperative transport task using multiple single-rotor ...
arxiv  

Optimized Wireless Control and Telemetry Network for Mobile Soccer Robots [PDF]

arXiv, 2021
In a diverse set of robotics applications, including RoboCup categories, mobile robots require control commands to interact with surrounding environment correctly. These control commands should come wirelessly to not interfere in robots' movement; also, the communication has a set of requirements, including low latency and consistent delivery.
arxiv  

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots [PDF]

arXiv, 2022
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for controllers that enable these robots to perform useful skills.
arxiv  

Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications [PDF]

arXiv, 2020
We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on the SoftBank Robotics Europe humanoid robots. We describe the control interface, associated robot description packages, robot modules and sample whole-body controllers.
arxiv  

Discretization and fitting of nominal data for autonomous robots [PDF]

Expert Systems with Applications, Volume 40, Issue 4, March 2013, Pages 1143-1151, 2013
This paper presents methodologies to discretize nominal robot paths extracted from 3-D CAD drawings. Behind robot path discretization is the ability to have a robot adjusting the traversed paths so that the contact between robot tool and work-piece is properly maintained.
arxiv   +1 more source

Know Thyself: Transferable Visual Control Policies Through Robot-Awareness [PDF]

arXiv, 2021
Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need for robot-specific data?
arxiv  

Diversity and Intelligence in Multi-robot Teams [PDF]

Proceedings of the 15th Int. Conference on Control Systems and Computer Science - CSCS15, 25-27 Mai, Bucuresti, Romania, pag. 452-457, 2005, 2015
This research proposes new tools for investigation of behavioral diversity in multi-robot systems and a significant body of results using these tools in simulated and real mobile robot experiments. The experiments specifically describe a framework of defining behavior-based strategies for multi-robot tasks as robot foraging, robot soccer and robot ...
arxiv   +1 more source

Adaptive Safe Merging Control for Heterogeneous Autonomous Vehicles using Parametric Control Barrier Functions [PDF]

arXiv, 2022
With the increasing emphasis on the safe autonomy for robots, model-based safe control approaches such as Control Barrier Functions have been extensively studied to ensure guaranteed safety during inter-robot interactions. In this paper, we introduce the Parametric Control Barrier Function (Parametric-CBF), a novel variant of the traditional Control ...
arxiv