... stiffness of a robot and workpiece, needed to control the robot-workpiece elastic interactions are often difficult to model and can vary due to geometry changes of the workpiece caused by large deformations and associated pose variations of the robot. The main contribution of this article is an algorithm...

...Bo Ying Su; Zhongqi Wei; James McCann; Wenzhen Yuan; Changliu Liu Textiles are a promising material for building tactile skins because they are lightweight, flexible, and can conform to complex surfaces. They enhance robot-human interaction by localizing contact points and measuring contact forces...

...Taha Yasini; Ali Pakniyat This paper studies the combined maneuver of flying and sailing for a robotic system which is referred to as a flying+sailing drone. Due to the emergence of hybrid systems behavior in tasks which involve both the flying and sailing modes, a hybrid systems formulation...

...Navaneeth Pushpalayam; Lee Alexander; Rajesh Rajamani This paper develops a position estimation system for a robot moving over a two-dimensional plane with three degrees of freedom. The position estimation system is based on an external rotating platform containing a permanent magnet...

...@msu.edu Email: xbtan@msu.edu Email: samuel-hunter.berndt@jpl.nasa.gov Email: christiahn.roman@jpl.nasa.gov 24 07 2023 02 09 2023 13 09 2023 22 09 2023 Actuator aerospace systems Dynamics and control Flight control Modeling robotics Unmanned vehicles...

...Emiliano Quinones Yumbla; Dongting Li; Tolemy M. Nibi; Daniel M. Aukes; Wenlong Zhang Sensing for wearable robots is an ongoing challenge, especially given the recent trend of soft and compliant robots. Recently, a wearable origami exoshell has been designed to sense the user’s torso motion...

...John N. Nganga; Patrick M. Wensing This letter presents approaches that reduce the computational demand of including second-order dynamics sensitivity information into optimization algorithms for robots in contact with the environment. A full second-order differential dynamic programming (DDP...

...Tariq M. Arif; Stockton McKay; Benjamin Conklin Ball catching by a robot is one of the challenging and complex control tasks that is extensively studied to achieve human-like skills in robots. Over the last decade, several ball-catching robot designs have attained benchmarks in visual tracking...

...Nalaka Amarasiri; Alan A. Barhorst; Raju Gottumukkala Omnidirectional mobile robots are widely used in studies and services as they are effective and efficient in moving in any direction regardless of their current orientation. These significant properties are very useful in energy-efficient...

...Hamid Vejdani; LaRance Haji; Vernon Fernandez; Badih Jawad In this paper, we first presented a four-bar linkage mechanism for actuating the wings in a flapping wing flying robot. After that, given the additional constraints imposed by the four-bar linkage, we parameterized the wing kinematics...

... , S. , and Rufer , A. , 2002 , “ JOE: A Mobile, Inverted Pendulum ,” IEEE Trans. Ind. Electron. , 49 ( 1 ), pp. 107 – 114 . 10.1109/41.982254 [2] Lee , H. , and Jung , S. , 2012 , “ Balancing and Navigation Control of a Mobile Inverted Pendulum Robot Using Sensor Fusion...

...Amin Ghorbanpour; Hanz Richter In this work, a new drive concept for brushless direct current (BLDC) motors is introduced. Energy regeneration is optimally managed with the aim of improving the energy efficiency of robot motion controls. The proposed scheme has three independent regenerative drives...

...Sathish Vallachira; Mikael Norrlof; Michal Orkisz; Sachit Butail In this paper, we cast the problem of fault isolation in industrial robots as that of causal analysis within coupled dynamical processes and evaluate the related efficacy of the information-theoretic approach of transfer entropy...

...Noah Kohls; Ibrahim Abdeally; Bryan P. Ruddy; Yi Chen Mazumdar Electromagnetic actuators provide fast speed, large forces, high strokes, and wide bandwidths. Most designs, however, are constructed from rigid components, making these benefits inaccessible for many soft robotics applications...

... are widely used because the DC motors can be controlled with sufficient accuracy based on the classical linear control theory. Mobile robots are used as educational platforms attracting the attention of students in various problem-based learning subjects. However, they have been hardly used to teach linear...

... 2019 21 02 2020 15 03 2020 22 05 2020 dynamics and control modeling robotics structural dynamics The potential capabilities of legged robots in exploring unstructured environments due to their discrete footholds have motivated extensive research on legged robotic...

... the weight of the quadrotor. The mechanism is the basis of this work, but the models developed therein were for design optimization, not dynamic simulations or control, which are demonstrated here. There has been great interest in modeling and control of aerial robots interacting with their environment...

...Hailin Ren; Jingyuan Qi; Pinhas Ben-Tzvi This paper presents a method to imitate flatness-based controllers for mobile robots using neural networks. Sample case studies for a unicycle mobile robot and an unmanned aerial vehicle (UAV) quadcopter are presented. The goals of this paper are to (1...

...Weitian Wang; Yi Chen; Yunyi Jia In human–robot collaborative tasks, the performance of robot path planning has a direct impact on the robot-to-human hand-over process, or even the collaboration quality. In this work, we propose an evaluation study on multiple robot path planners with different...

...: bobbyleary@gmail.com Email: jzm14@psu.edu Email: sbrennan@psu.edu 24 10 2019 16 02 2020 23 02 2020 04 03 2020 computational methods discrete event systems robotics service/rehabilitation robots This work is motivated by human-assistive devices, particularly...