Underwater gliders are widely used in oceanic observation, which are driven by a hydraulic buoyancy regulating system and a movable mass. Better motion performance can help us to accomplish observation tasks better. Therefore, a command filtered adap...
In unpredictable scenarios, quadruped robots with behavior-controllable capabilities can often improve their adaptability through interaction with users. In this paper, we propose a behavior-controllable motion control method, integrating user comman...
Omnidirectionality is a feature that allows motion in any direction without orientation maneuvers. Omnidirectional mobile robots are usually based on omni or mecanum wheels. The motion of an omnidirectional mobile robot is defined by a target motion...
The Mecanum-wheeled robot has four special wheels. It can control four wheels independently and has seven turning axes. The robot can translate in all directions and travel in curves without changing its direction by means of the control commands for...
This paper introduces an extended state observer-based command filtered backstepping control method to improve the tracking accuracy and synchronization performance of multi-motor-driving servo systems under the condition of low-speed nonlinear frict...
In this paper, we present a mixed-initiative motion control strategy for multiple quadrotor aerial vehicles. The proposed approach incorporates formation specifications and motion-planning commands as well as inputs by a human operator. More specific...
In this study, we introduce a novel framework that combines human motion parameterization from a single inertial sensor, motion synthesis from these parameters, and biped robot motion control using the synthesized motion. This framework applies advan...
This paper proposes a multi-terminal adaptive collaborative operation method for solving the problem of unstable internal force tracking in the clamping and handling of unknown objects by multi-terminal robots. In the proposed method, the internal co...
8 November 2026
In computer vision-based robotic object grasping tasks, the use of natural language as inputs to the large language model to generate motion commands for robotic systems often leads to errors in function matching. Moreover, even for the case that the...
This paper developed a rotatable multi-axis motion platform combined with virtual reality (VR) immersion for flight simulation purposes. The system could simulate the state of the flight operation. The platform was mainly comprised of three crank lin...
Shape-memory alloys (SMAs) offer low mass, compact integration, quiet operation, and high work density, but their hysteresis and coupled thermal–mechanical behavior complicate repeatable control. This study develops a modular architecture in wh...
The paper describes a method for planning collision-free motions of an industrial manipulator that shares the workspace with human operators during a human–robot collaborative application with strict safety requirements. The proposed workflow e...
For autonomous legged robots to be deployed in practical scenarios, they need to perform perception, motion planning, and locomotion control. Since robots have limited computing capabilities, it is important to realize locomotion control with simple...
This paper presents the integrated motion control method for an electric vehicle (EV) equipped with a front/rear steer-by-wire (SbW) system and four in-wheel motor (IWM). The proposed integrated motion control method aims to maintain stable cornering...
This study investigates the dynamic formation reconfiguration problem for multi-UUV (multi-Unmanned Underwater Vehicle) systems, with a particular focus on the challenges posed by underwater acoustic communication. A two-dimensional grid model is est...
This paper proposed an end-effector (EE)-driven whole-body tele-operation framework based on linear and angular motion decomposition. The proposed EE-driven tele-operation method enables intuitive control of a mobile manipulator using only EE command...
This paper mainly studies the longitudinal and lateral deck motion compensation technology. In order to ensure the safe landing of the carrier-based aircrafts on the flight decks of carriers during the landing process, it is necessary to introduce de...
Safe human-to-humanoid motion imitation is crucial for shared environments, where direct motion retargeting may induce self-collision or human–humanoid collision due to embodiment mismatch, kinematic limits, perception uncertainty, and human pr...
This study proposes a novel, nonlinear trajectory/path-following controller based on jerk-level error dynamics. Therefore, at first the nonlinear acceleration-based kinematic equations of motion of a dynamic system are differentiated with respect to...
Fast and precise robot motion is needed in many industrial applications. Most industrial robot motion controllers allow externally commanded motion profiles, but the trajectory tracking performance is affected by the robot dynamics and joint servo co...
This study proposes a dual-modal preview-control framework that combines two filtered-x least-mean-square (FxLMS) algorithms with a Lotus-type modal-force transformation for active suspension systems. Using previewed road information as a common refe...
The main purpose of this paper is to construct an autopilot system for unmanned railcars based on computer vision technology in a fixed luminous environment. Four graphic predefined signs of different colors and shapes serve as motion commands of acc...
This paper presents aspects of the concept and design of prostheses for the upper limb. The objective of this research is that of prototyping a customized prosthesis, with EMG signals that initiate the motion. The prosthesis’ fingers’ motions (as wel...
As an alternative to traditional remote controller, research on vision-based hand gesture recognition is being actively conducted in the field of interaction between human and unmanned aerial vehicle (UAV). However, vision-based gesture system has a...
Directly applying brain signals to operate a mobile manned platform, such as a vehicle, may help people with neuromuscular disorders regain their driving ability. In this paper, we developed a novel electroencephalogram (EEG) signal-based driver&ndas...
With the rapid development of computer and artificial intelligence technology, robots have been widely used in assembly, sorting, and other work scenarios, gradually changing the human-oriented mechanical assembly line working mode. Traditional robot...
The ability to execute limb motions derives from composite command signals (or efferent signals) that stem from the central nervous system through the highway of the spinal cord and peripheral nerves to the muscles that drive the joints [...]
Balancing path-following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper demonstrates t...
Spiking neural networks are able to control with high precision the rotation and force of single-joint robotic arms when shape memory alloy wires are used for actuation. Bio-inspired robotic arms such as anthropomorphic fingers include more junctions...
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...
Actuators provide a critical link between high-level control decisions and the physical dynamics of a vehicle, translating control commands into steering, braking, suspension, and propulsion actions that directly influence vehicle motion, passenger c...
Offshore photovoltaic coupled electrolysis hydrogen production systems operate in complex marine environments, which puts high requirements on safety for operation and maintenance. To reduce manual intervention and support remote operation and mainte...
This paper presents a procedure for estimating the motion capabilities of an omnidirectional mobile platform with three omni wheels arbitrarily distributed and oriented. This procedure is based on the analysis of the bidirectionality compliance betwe...
Unmanned aerial vehicles (UAVs) are increasingly used in applications such as inspection and search and rescue, yet safe and intuitive teleoperation remains challenging in cluttered and GPS-denied environments. This paper presents a modular haptic te...
This paper addresses the automatic carrier landing problem in the presence of deck motion, carrier airwake disturbance, wind shears, wind gusts, and atmospheric turbulences. By transforming the 6-DOF aircraft model into an affine dynamic with angle o...
Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution. In this paper, a novel, gesture-based teleoperation system for com...
This paper presents the potential of combining ROS (Robot Operating System), its state-of-art software, and EtherCAT technologies to design real-time robot control architecture for human–robot collaboration. For this, the advantages of an ROS framewo...
This paper proposes a zero-speed vessel fin stabilizer adaptive neural network control strategy based on a command filter for the problem of large-angle rolling motion caused by adverse sea conditions when a vessel is at low speed down to zero. In or...
Autonomous Drone Racing (ADR) was first proposed in IROS 2016. It called for the development of an autonomous drone capable of beating a human in a drone race. After almost five years, several teams have proposed different solutions with a common pip...
The expansion of nursing-care assistant robots in smart infrastructure has provided more applications for homecare services, which has raised new demands for smart and natural interaction between humans and robots. This article proposed an innovative...
This paper presents a methodology for movement recognition in hand-assisted laparoscopic surgery using a textile-based sensing glove. The aim is to recognize the commands given by the surgeon’s hand inside the patient’s abdominal cavity in order to g...
Task prioritization for inverse kinematics can be a powerful tool for realizing objectives in robot manipulation. This is particularly true for robots with redundant degrees of freedom, but it can also help address a debilitating singularity in six-a...
Real-time command and data transfer are essential for autonomous underwater vehicle (AUV) motion control in underwater missions. Due to the limitations of underwater acoustic communication, which has a low data rate, this paper introduces a new contr...
Unmanned Aerial Vehicles (UAV) can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments...
Due to the high cost of robots, the algorithm testing cost for physical robots is high, and the construction of motion control programs is complex, with low operation fault tolerance. To address this issue, this paper proposes a low-cost, cross-platf...
Predicting a quadruped’s response to planned commands is difficult when terrain geometry and contact conditions differ from training. A terrain category associated with high traction during training may provide low traction at deployment, weake...
With the improvement of UAV performance and intelligence in recent years, it is particularly important for unmanned aerial vehicles (UAVs) to improve the ability of autonomous air combat. Aiming to solve the problem of how to improve the autonomous a...
Ground walking training using a floating-base lower-limb exoskeleton rehabilitation robot improves patients’ dynamic balance function, thereby increasing their motor and daily life activity capabilities. We propose a balance-directed motion gen...
Fire trucks equipped with truck-mounted electric water cannons are key mobile firefighting assets for urban and industrial fire response. However, due to the inherent mechanical inertia of the cannon body, its low-frequency motion response cannot mat...
Robotic catheter systems with master–slave designs are employed for teleoperated navigation of flexible endovascular tools for treating calcified lesions. Despite improved tool manipulation techniques, patient safety and lowering operative risk...
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