... block. Fig. 12 Setup of the experiments. Several small-size boxes were placed as obstacles in the environment, and the robots were remotely controlled to transport the objects (large-size boxes) with different shapes while avoiding the small-size boxes. ( a ) The transported box was in a square...

... concentrates on learning to control a complex model of the Stewart platform using state-of-the-art deep reinforcement learning (DRL) algorithms. In this regard, to enhance the reliability of the learning performance and to have a test bed capable of mimicking the behavior of the system completely, a precisely...

...Mehmet Baskın; Kemal Leblebicioğlu In this article, a robust attitude controller design for an uncommon quadrotor aerial vehicle is discussed. This aerial vehicle is designed to have two big rotors on the longitudinal axis to increase the lift capacity and flight endurance, and two small tilt...

...Yudong Zhang; Leiying He; Bo Yan; Jianneng Chen; Chuanyu Wu The tracking control of tendon-driven manipulators has recently become a hot topic. However, the flexible elastic tendon introduces greater residual vibration, making it more difficult to control the trajectory tracking of the manipulator...

...Yiyu Chen; Lingchen Lian; Yu-Hsiu Hsieh; Quan Nguyen; Satyandra K. Gupta Legged robots have a unique capability of traversing rough terrains and negotiating cluttered environments. Recent control development of legged robots has enabled robust locomotion on rough terrains. However, such approaches...

... gripper compliant mechanisms control haptic devices manufacturing Teleoperation systems are utilized to establish a dexterous interaction between remote and local environments. Teleoperation systems have wide application disciplines including telesurgery [ 1 ], rehabilitation [ 2 ], mining [ 3...

... on the backbone. However, controlling the robots in a physically constrained environment is challenging, and conventional control strategies can be energy-inefficient or even fail to navigate to the destination. This work develops a snake locomotion gait policy for energy-efficient control via deep reinforcement...

... is presented, which possesses 14 degrees-of-freedom (DoFs). Then, the parameters of the designed hand are analyzed to obtain the stiffness characteristics and working space. Furthermore, the grasping control method based on position control and force control is proposed for robotic grasp. Finally, a series...

... by a set of embedded shape memory alloy (SMA) springs. These can change the internal elasticity of the module as temperature changes, thereby varying the stiffness. Moreover, the control system is designed to enable real-time cooperation between multiple motors and carries out simulations for deployable...

.... Coupled with extent of feedback between sensing and action, this continuum ranges from motion planning/open-loop control methodologies used primarily in offline settings to various forms of online-replanning/closed-loop control suitable for deployments in online settings to address dynamical ego-system...

... are analyzed. Third, the control scheme combining travel speed controller, turn controller, and wheelbase controller is proposed based on proportional-Integral-derivative algorithm. Finally, many simulations and experiments validate both the feasibility and effectiveness of the proposed structure and control...

...Jianqing Peng; Haoxuan Wu; Darwin Lau The operational space control (OSC) of multilink cable-driven hyper-redundant robots (MCDHRs) is required to perform tasks in many applications. As a new coupled active-passive (CAP) MCDHR system, due to the multiple couplings between the active cables...

.... , 33 ( 3 ), pp. 647 – 660 . 10.1109/TRO.2017.2654507 [19] Stokes , A. , and Brockett , R. , 1996 , “ Dynamics of Kinematic Chains ,” Int. J. Rob. Res. , 15 ( 4 ), pp. 393 – 405 . 10.1177/027836499601500406 [20] Müller , P. , 1992 , “ Robot Dynamics and Control...

... bending deformation is very large. This research lays the foundation for the dynamic three-dimensional coupling modeling of the flexible manipulator and for the development of subsequent control algorithms. Forward dynamics consists mainly of three steps: (1) need to recurse forward from the base to get...

..., control, etc. The practical benefits and technical bottleneck have motivated the development of bat-inspired robots in recent years. The purpose of this paper is to summarize the designing principles and report current state-of-the-art of bat-inspired robot designs, emphasizing the respective...

...Bing Chen; Bin Zi; Bin Zhou; Zhengyu Wang In this paper, a robotic ankle–foot orthosis (AFO) is developed for individuals with a paretic ankle, and an impedance-based assist-as-needed controller is designed for the robotic AFO to provide adaptive assistance. First, a description of the robotic AFO...

... compliant mechanisms control mechanism design National Research Foundation of Korea 10.13039/501100003725 2019R1A2C1088375 National Natural Science Foundation of China 10.13039/501100001809 62073108 Robot has been used in our society as a tool for the augmentation of human...

..., including the overall structure of the robot and the design details of the actuated robotic leg joints. For the motion control of the robot, a joint trajectory generator is formulated, with the purpose of generating a stable walking gait to provide reliable support to its human user in the robot’s future...

... controllers generate feed-forward force commands without considering the actual torque or force feedback. This paper presents a whole-body controller using the actual joint torque measured from a torque sensor, which enables the quadrupedal robot to demonstrate both dynamic locomotion and reaction to external...

... process and the possibility of evaluating rapidly design alternatives by using virtual prototypes. This article presents an adams / matlab cosimulation for the dynamics and control of a Single-Wheel pendulum ROBot (SWROB) with inertial locomotion actuation to characterize design solutions by means...