Results 1 to 10 of about 1,316 (181)

Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics

CoRR, 2022
15pages, 14 ...
Fei Liu 0033, Mingen Li, Jingpei Lu, Entong Su, Michael C. Yip   +4 more
openaire   +2 more sources

Transportation of Payload Using Multiple Quadrotors via Rigid Connection

International Journal of Aerospace Engineering, 2022
Due to the limited payload capability of an aerial robot, multiple quadrotors can be used to manipulate payloads in aerial transportation, construction, and assembly tasks.
Ti Chen, Jinjun Shan, Hugh H. T. Liu
doaj   +1 more source

Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model [PDF]

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), 2019
Despite the emergence of many soft-bodied robotic systems, model-based feedback control for soft robots has remained an open challenge. This is largely due to the intrinsic difficulties in designing controllers for systems with infinite dimensions. This work extends our previously proposed formulation for the dynamics of a soft robot from two to three ...
Robert K. Katzschmann, Cosimo Della Santina, Yasunori Toshimitsu, Antonio Bicchi, Daniela Rus   +4 more
openaire   +2 more sources

Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes: A Riemannian-Geometry Approach

Journal of Robotics, 2010
Modeling, control, and stabilization of dynamics of two-dimensional object grasping by using a pair of multijoint robot fingers are investigated under rolling contact constraints and arbitrariness of the geometry of the object and fingertips.
Suguru Arimoto, Morio Yoshida
doaj   +1 more source

Development of an Adaptive Force Control Strategy for Soft Robotic Gripping

Applied Sciences
Using soft materials in robotic mechanisms has become a common solution to overcome many challenges associated with the rigid bodies frequently used in robotics.
Ian MacDonald, Rickey Dubay
doaj   +1 more source

Adaptive Visual Control for Robotic Manipulators with Consideration of Rigid-Body Dynamics and Joint-Motor Dynamics

Mathematics
A novel cascade visual control scheme is proposed to tailor for electrically driven robotic manipulators that operate under kinematic and dynamic uncertainties, utilizing an uncalibrated stationary camera. The proposed control approach incorporates adaptive weight radial basis function neural networks (RBFNNs) to learn the behaviors of the uncertain ...
Zhitian Chen, Weijian Wen, Weijun Yang
openaire   +2 more sources

Modelling, Control Design and Inclusion of Articulated Robots in Cyber-Physical Factories

Actuators
This paper addresses the features and limits of the principles and means that provide and support the design of motion control for industrial stationary articulated robots and their involvement in cyber-physical factories as part of the Industry 4.0 ...
Květoslav Belda, Lukáš Venkrbec, Jan Jirsa   +2 more
doaj   +1 more source

Discrete-Time Impedance Control for Dynamic Response Regulation of Parallel Soft Robots

Biomimetics
Accurately controlling the dynamic response and suppression of undesirable dynamics such as overshoots and vibrations is a vital requirement for soft robots operating in industrial environments.
Ameer Hamza Khan, Shuai Li
doaj   +1 more source

Distributed event-triggered robust adaptive formation control of multi-agent rigid bodies on [Formula: see text]. [PDF]

Sci Rep
Sharma M, Sakthivel R, Yadav K.
europepmc   +1 more source

Deep-Sea Biomimetic Manta Ray Robots: A Comprehensive Review Based on Operational Depth Spectrum, Structures, Energy Optimization, and Control Systems. [PDF]

Biomimetics (Basel)
Ye L, Liu H, Ding Q, Hu Z, Li W, Cui W, Fan D.   +6 more
europepmc   +1 more source