Results 41 to 50 of about 703 (181)

Hard‐Magnetic Soft Millirobots in Underactuated Systems

Advanced Robotics Research, EarlyView.
This review provides a comprehensive overview of hard‐magnetic soft millirobots in underactuated systems. It examines key advances in structural design, physics‐informed modeling, and control strategies, while highlighting the interplay among these domains.
Qiong Wang, Zixuan Zhang, Bingyan Li, Junkai Wang, Hongcheng Gu   +4 more
wiley   +1 more source

Adaptive Robust Control Based on Moore-Penrose Generalized Inverse for Underactuated Mechanical Systems

IEEE Access, 2019
To address the uncertainty existing in underactuated mechanical systems (UMSs) and their nonholonomic servo constraints, we propose a class of adaptive robust control based on the Moore-Penrose generalized inverse for UMSs in this paper.
Xiaolong Chen, Han Zhao, Hao Sun, Shengchao Zhen   +3 more
doaj   +1 more source

A Review on Sensor Technologies, Control Approaches, and Emerging Challenges in Soft Robotics

Advanced Robotics Research, EarlyView.
This review provides an introspective of sensors and controllers in soft robotics. Initially describing the current sensing methods, then moving on to the control methods utilized, and finally ending with challenges and future directions in soft robotics focusing on the material innovations, sensor fusion, and embedded intelligence for sensors and ...
Ean Lovett, Maxwell Hammond, Niloufar Seyfi, Amirreza Fahim Golestaneh, Venanzio Cichella, Caterina Lamuta   +5 more
wiley   +1 more source

Nonlocomotory Robotic Strategies for Dynamic Rotation Control in Terrestrial Robots: A Review

Advanced Robotics Research, EarlyView.
Terrestrial robots increasingly require rapid body rotation to maintain stability and agility in complex environments. This review shows nonlocomotory rotational control strategies that operate without ground contact, including reaction wheels, tails, bars, limbs, and thrusters.
Y. Liang, J. An, X. Zheng, D. Wang, S. Wang, X. Wang, P. Zhu, J. Pei, S. Li, J. Paripurana, Y. Han, Z. Tang, X. Gan, Q. He, X. Ma   +14 more
wiley   +1 more source

Smooth Second Order Sliding Mode Control of a Class of Underactuated Mechanical Systems

IEEE Access, 2018
This paper investigates a framework for the application of robust and smooth second order sliding mode control to a class of underactuated mechanical systems for the realization of high performance control applications.
Ibrahim Shah, Fazal Ur Rehman
doaj   +1 more source

Nonlinear control of mechanical systems with one degree of underactuation [PDF]

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004
Numerous robotic tasks associated with underactuation have been studied in the literature. For a large number of these in the plane, the mechanical models have a cyclic variable, the cyclic variable is unactuated, and all shape variables are independently actuated. This paper formulates and solves two control problems for this class of models.
Christine Chevallereau, J. W. Grizzle, Claude H. Moog   +2 more
openaire   +1 more source

Echinoderm‐Inspired Autonomy for Soft‐Legged Robots

Advanced Robotics Research, EarlyView.
Inspired by echinoderms, a modular soft robot achieves autonomous phototaxis without a central controller or explicit communication. Each limb independently adapts its actuation timing through local sensing and short‐term memory. Coordination emerges purely from physical interactions, demonstrating resilience to changes in morphology, environment, and ...
Harmannus A. H. Schomaker, Jelle de Vries, Johannes T. B. overvelde   +2 more
wiley   +1 more source

Energy-Based Exploration for Reinforcement Learning of Underactuated Mechanical Systems

IEEE Access
Reinforcement Learning (RL) for underactuated mechanical systems presents unique challenges due to the limited control inputs and complex dynamics of the system. Efficient exploration poses a significant problem for two reasons: First, these systems must
Jeroen Taets, Tom Lefebvre, Frederik Ostyn, Guillaume Crevecoeur   +3 more
doaj   +1 more source

Universal Gripper for Industrial Manipulation With Enhanced Rigid Mechanics and Self‐Adaptable Fingers

Advanced Robotics Research, EarlyView.
An enhanced universal gripper combining rigid mechanics with self‐adaptable fingers is presented for industrial automation. The novel six‐bar linkage with integrated compliant pad eliminates mechanical interference while enabling passive shape adaptation.
Muhammad Usman Khalid, Nirmal Kumar Ravikumar, Mattia Frascio, Sumanth Nagalakunta, Alessandro Seitone, Benoît Lévesque, Alessandro Zanella, Matteo Zoppi   +7 more
wiley   +1 more source

Structure Design and Stable-balancing Control of a Kind of Wire-moving Robot

International Journal of Advanced Robotic Systems, 2014
Wire-moving robots are mechanical systems that can maintain their balance and move on tightropes. Their name comes from the manner in which tightrope walkers maintain their balance by rolling or moving a pole from left to right.
Lei Guo, Guanglei Lu, Qizheng Liao, Yanbo Cui, Dongqiang Liu, Deng Guo, Zeyan Hu   +6 more
doaj   +1 more source