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Robot Control

  • Portwings: Decoding the physics of flapping flight
    Abstract
    In this seminar an overview will be given of the ERC AdG PortWings project and its achievements. The overview will first describe the initial goal and the context in which the project came to existence, and then will give attention to the various aspects of...
  • Human-robot contactless collaboration with mixed reality interface
    A control system based on multiple sensors is proposed for the safe collaboration of a robot with a human. New constrained and contactless human-robot coordinated motion tasks are defined to control the robot end-effector so as to maintain a desired relative position to the human head while...
  • Exploiting Robot Redundancy for Online Learning and Control
    Accurate trajectory tracking in the task space is critical in many robotics applications. Model-based robot controllers are able to ensure very good tracking but lose effectiveness in the presence of model uncertainties. On the other hand, online learning-based control laws can handle poor dynamic...
  • Vision-based navigation of omnidirectional mobile robots
    This letter considers the problem of collision-free navigation of omnidirectional mobile robots in environments with obstacles. Information from a monocular camera, encoders, and an inertial measurement unit is used to achieve the task. Three different visual servoing control schemes, compatible...
  • On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics
    We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active and passive degrees of freedom. The generic iteration of...
  • Regulation by Iterative Learning in Continuum Soft Robots
    The dynamic uncertainties and disturbances characterizing continuum soft robots call for the derivation of simple and possibly information-free controllers. We propose an iterative learning control law for shape regulation of continuum soft robots consisting of a PD action and a feedforward term,...
  • Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints
    We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and...
  • Motion Control of Redundant Robots with Generalised Inequality Constraints
    We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be violated at any time. The modified algorithm combines all...
  • Detection and isolation of actuator faults and collisions for a flexible robot arm
    This paper presents a unified approach to detection and isolation of both actuator faults and unexpected collisions for a two-link robot with a flexible forearm. The proposed approach is sensorless, i.e., no dedicated exteroceptive sensors are considered, and is based on the design of residuals to...
  • Reduced-Order Observer Design for Robot Manipulators
    This paper investigates the design of reduced-order observers for robot manipulators. Observer stability conditions are obtained based on a Lyapunov analysis. The proposed observer is enhanced with a hybrid scheme that may adjust the gains to cope with possible unbounded velocities of the robot...
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