This study presents the design and performance evaluation of an adaptive control system for a biped robot with five degrees of freedom. The primary goal is to achieve stable and accurate control despite uncertainties in the robot’s dynamic para...
With the rise in new soft robotic applications, the control requirements increase. Therefore, precise control methods for soft robots are required. However, the dynamic control of soft robots, which is required for fast movements, is still an open to...
Nowadays, manufacturing plants are required to be flexible to respond quickly to customer demands, adapting production and processes without affecting their efficiency. In this context, Industrial Robots (IRs) are a primary resource for modern factor...
In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The architecture gives the robots the ability to perform self-reconfiguration after unforeseen leg failu...
Robot formation control has several advantages that make it interesting for research. Multiple works have been published in the literature using different control approaches. This work presents the control of different groups of robots to achieve a d...
This paper presents a novel model for predicting human movements and introduces a new control method for human–robot interaction based on this model. The developed predictive model of human movement is a holistic model that is based on well-sup...
Collaborative robots cooperate with humans to assist them in undertaking simple-to-complex tasks in several fields, including industry, education, agriculture, healthcare services, security, and space exploration. These robots play a vital role in th...
Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or mod...
With the rapid development of robotics technology, quadruped robots have shown significant potential in navigating complex terrains due to their excellent stability and adaptability. This paper proposes an adaptive dynamic programming control method...
The paper deals with the methods of handling imperfect information and the control of mobile robots acting under uncertainty. It is assumed that the robots act in autonomous regime and are controlled internally without referring the externally define...
This article addresses the problem of cloud distributed control systems development for mobile robots. The authors emphasize the lack of a design methodology to guide the process of the development in accordance with specific technical and economic r...
Quadruped robots have emerged as a prominent field of research due to their exceptional mobility and adaptability in complex terrains. This paper presents an overview of quadruped robots, encompassing their design principles, control mechanisms, perc...
This paper presents an impedance learning-based adaptive control strategy for series elastic actuator (SEA)-driven compliant robots without the measurement of the robot–environment interaction force. The adaptive controller is designed based on...
In this paper, a new hybrid method for controlling a wheeled robot is introduced. Model predictive control (MPC) is the main controller and a fuzzy controller is used as a compensator. The wheeled robot is a nonlinear, multi-input–multi-output...
Upper limb exoskeleton robots, as highly integrated wearable devices with the human body structure, hold significant potential in rehabilitation medicine, human performance enhancement, and occupational safety and health. The rapid advancement of hig...
This paper deals with Yaskawa robots controlling the Robot Operating System (ROS) for teleoperation tasks. The integration of an open-source ROS interface based on standard Motoman packages into control loop leads to large trajectory tracking errors...
This paper proposes a finite-time multi-modal robotic control strategy for physical human–robot interaction. The proposed multi-modal controller consists of a modified super-twisting-based finite-time control term that is designed in each inter...
With an aging population and the high incidence of neurological diseases, rehabilitative lower limb exoskeleton robots, as a wearable assistance device, present important application prospects in gait training and human function recovery. As the core...
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However, these move...
A recently developed differential geometric representation of redundant serial robot kinematics is employed to create a new extended operational space dynamics and control formulation that explicitly accounts for redundant robot degrees of freedom. T...
The development and study of an optimal control method for the problem of controlling the formation of a group of mobile robots is still a current and popular theme of work. However, there are few works that take into account the issues of time synch...
This paper presents Soft DAgger, an efficient imitation learning-based approach for training control solutions for soft robots. To demonstrate the effectiveness of the proposed algorithm, we implement it on a two-module soft robotic arm involved in t...
Bionic multi-legged robots with flexible bodies embody human ingenuity in imitating, learning, and exploring the natural world. In contrast to rigid-body robots, these robots with flexible bodies exhibit superior locomotive capabilities. The flexible...
In many industries, such as assembling, welding, packaging, quality control, loading, and wrapping, a specific operation is requested, which is to pick processed objects in a given area of the workspace and hold them there for a rather long time comp...
The integration of intelligent robots in industrial production processes has the potential to significantly enhance efficiency and reduce human adversity. However, for such robots to effectively operate within human environments, it is critical that...
This study investigates how control modalities and recognition accuracy influence construction workers’ trust and acceptance of collaborative robots. Sixty participants evaluated voice and gesture control under varying levels of recognition acc...
Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques and other parameters, hindering...
This study provides an effective cooperative carrying and navigation control method for mobile robots in an unknown environment. The manager mode switches between two behavioral control modes—wall-following mode (WFM) and toward-goal mode (TGM)...
The paper presents the design of iterative learning control for a class of mobile robots. This control strategy allows driving the considered system, which executes the same control task in trials, to the predefined reference within the consecutive i...
Snake-like robots, which have high degrees of freedom and flexibility, can effectively perform an obstacle avoidance motion in a narrow and unstructured space to complete assignments efficiently. However, accurate closed-loop control is difficult to...
Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usuall...
The main objective of this work is to address problems related to the speed control of mobile robots with non-holonomic constraints and differential traction—specifically, robots for football games in the VSS (Very Small Size) category. To achi...
Contacts between robots and environment are often assumed to be rigid for control purposes. This assumption can lead to poor performance when contacts are soft and/or underdamped. However, the problem of balancing on soft contacts has not received mu...
Different from the vehicles and robots that move on the ground, complex and nonlinear track–wall interactions bring considerable difficulties to the accurate control of tracked wall-climbing robots due to the effect of gravity and adsorption. I...
To tackle the challenges of poor stability during real-time random gait switching and precise trajectory control for hexapod robots under limited stride and steering conditions, a novel real-time replanning gait switching control strategy based on an...
This review critically examines advancements in sensing, control, and networking technologies for agricultural robots (AgRobots) and their impact on modern farming. AgRobots—including Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (U...
This study proposes a force–position hybrid control method for quadruped robots based on the Model Predictive Control (MPC) algorithm, aiming to address the challenges of stability and adaptability in complex terrain environments. Traditional c...
This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain...
In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interfa...
This paper presents a hybrid adaptive control strategy for upper limb rehabilitation robots using impedance learning. The hybrid adaptation consists of a differential updating mechanism for the estimation of robotic modeling uncertainties and periodi...
Path planning and tracking is the most basic technology for mowing robots, among which the performance of algorithms has a great impact on their intelligence and efficiency. Based on the research of relevant references on mower robots, it mainly focu...
Tracked inspection robots possess prominent advantages in dealing with severe environment rescue, safety inspection, and other important tasks, and have been used widely. However, tracked robots are affected by skidding and slipping, so it is difficu...
The challenge of effectively managing the formation and recovery of traffic cone robots (TCRs) is addressed by proposing a linear time-varying model predictive control (MPC) strategy. This problem involves coordinating multiple TCR formations within...
Tracked robots equipped with flippers and LiDAR sensors have been widely used in urban search and rescue. Achieving autonomous flipper control is important in enhancing the intelligent operation of tracked robots within complex urban rescuing environ...
Accurately controlling the dynamic response and suppression of undesirable dynamics such as overshoots and vibrations is a vital requirement for soft robots operating in industrial environments. Pneumatically actuated soft robots usually undergo larg...
This paper proposes a coupled-error-based formation control algorithm for the rapid formation completion of multi-robot systems. We consider a multi-robot system with omni-directional robots with swerve-driving mechanisms and a communication system w...
Due to the particularity of the jacket structure of offshore platforms and the complexity of the marine environment, there have been few effective localization and autonomous control methods for underwater robots that are designed for cleaning tasks....
Dynamic locomotion capabilities on complex terrains constitute a critical requirement for humanoid robots in industrial manufacturing and emergency response applications. To address the fundamental challenges of terrain perception, underactuated dyna...
Soft growing robots, which mimic the biological growth of plants, have demonstrated excellent performance in navigating tight and distant environments due to their flexibility and extendable lengths of several tens of meters. However, controlling the...
This study proposes a novel logarithm curve and operating time (LCOT) control strategy for a self-driving electric mobile robot. This new LCOT control strategy enables the mobile robot to speed up and slow down mildly when running longitudinally, tur...
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