... requiring multimodal feedback could benefit from the flexibility that a reduced number of cables offers. Therefore, this paper presents a novel SPIDAR-like HSCR and its sensor-less force control method based on motor current. The purpose of this work is to clarify the advantages that a variable-structure...

...: shirafuji@race.t.u-tokyo.ac.jp Email: ota@race.t.u-tokyo.ac.jp Contributed by Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 26 09 2022 18 01 2023 20 01 2023 08 03 2023 control mechanism design mobile...

... 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...

... in Fig. 2 . Further, this flowchart also classifies the literature in the laterals of the particular decision-making aspect addressed, namely, planning, control, and human–robot interaction. Fig. 2 A graphical presentation of representative papers in the literature A graphical presentation...

... 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...

.... , 1992 , “ Robot Dynamics and Control ,” Automatica , 28 ( 3 ), pp. 655 – 656 . 10.1016/0005-1098(92)90197-N [21] Hairer , E. , Norsett , S. P. , and Wanner , G. , 1987 , “ Solving Ordinary Differential Equations I. Nonstiff Problems ,” Math. Comput. Simul. , 29 ( 5 ), p. 447...

... 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. This study is supported by the National Natural Science Foundation of China (Grant Nos...

..., 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...