As part of the 2023 course program of the European Embedded Control Institute (EECI), http://www.eeci-igsc.eu, the International Graduate School on Control of Soft...
Soft Robotics
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The intrinsically underactuated and nonlinear nature of continuum soft robots makes the derivation of provably stable feedback control laws a challenging task. Most of the works so far circumvented the issue either by looking at coarse fully-actuated approximations of the dynamics or by imposing...
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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...
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We highlight the equivalence between the motion of an elastic joint and the two-body problem in classical mechanics. Based on this observation, a change of coordinates is introduced that reduces the two-body problem to a pair of decoupled one-body problems. This allows to treat the rest-to-rest...
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A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely the joint torque at the link base and a transverse force at the tip of the link. The problem is formulated and solved using...
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In this paper, a new approach is proposed to optimally plan the motion along a parametrized path for flexible joint robots, i.e., robots whose structure is purposefully provided with compliant elements. State-of-the-art methods efficiently solve the problem in case of torque-controlled rigid robots...
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The Robotics group at DIAG, and the associated DIAG Robotics Lab, were established in the late 1980s with a commitment to develop innovative planning and control methods for industrial and service robots.
The main research topics are: nonlinear control of robots; control of manipulators...