Underactuation
View article: Wearable and grounded supernumerary robotic limbs for sensorimotor augmentation in post-stroke patients
Wearable and grounded supernumerary robotic limbs for sensorimotor augmentation in post-stroke patients Open
The aim of this work is to redefine the concept of sensorimotor augmentation, extending it from wearable devices to supernumerary robotic upper limbs that are grounded and can be placed out of the physiological peripersonal space of the us…
View article: Real-Flight-Path Tracking Control Design for Quadrotor UAVs: A Precision-Guided Approach
Real-Flight-Path Tracking Control Design for Quadrotor UAVs: A Precision-Guided Approach Open
This study presents the design and implementation of a real-time flight-path tracking control system for a quadrotor unmanned aerial vehicle (UAV) capable of accurately following a mobile ground target under dynamic and uncertain environme…
View article: PUSHING THE BOUNDARIES OF ACTUATORS-TO-TASK KINEMATIC INVERSION: FROM FULLY ACTUATED TO UNDERACTUATED (SOFT) ROBOTS
PUSHING THE BOUNDARIES OF ACTUATORS-TO-TASK KINEMATIC INVERSION: FROM FULLY ACTUATED TO UNDERACTUATED (SOFT) ROBOTS Open
View article: A fuzzy logic controller for nonlinear inverted pendulum systems: Design, simulation, and performance evaluation
A fuzzy logic controller for nonlinear inverted pendulum systems: Design, simulation, and performance evaluation Open
The inverted pendulum on a cart is a classical benchmark used to evaluate control strategies for nonlinear and underactuated systems. Its inherent instability and strong coupling between the pendulum’s rotation and the cart’s translation m…
View article: A fuzzy logic controller for nonlinear inverted pendulum systems: Design, simulation, and performance evaluation
A fuzzy logic controller for nonlinear inverted pendulum systems: Design, simulation, and performance evaluation Open
The inverted pendulum on a cart is a classical benchmark used to evaluate control strategies for nonlinear and underactuated systems. Its inherent instability and strong coupling between the pendulum’s rotation and the cart’s translation m…
View article: Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation
Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation Open
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation, w…
View article: Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation
Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation Open
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation, w…
View article: Dual Preintegration for Relative State Estimation
Dual Preintegration for Relative State Estimation Open
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation accuracy is sensitive to nonlinear rotations of the refere…
View article: Adaptive Consensus Control of Multiple Underactuated Marine Surface Vessels with Input Saturation and Severe Uncertainties
Adaptive Consensus Control of Multiple Underactuated Marine Surface Vessels with Input Saturation and Severe Uncertainties Open
This paper is devoted to the consensus control of a networked system constituted by multiple underactuated marine surface vessels (MSVs) with input saturation. Compared with the related works on this topic, two remarkable features are invo…
View article: Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control
Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control Open
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuse…
View article: Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control
Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control Open
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuse…
View article: UAV Navigation using Reinforcement Learning: A Systematic Approach to Progressive Reward Function Design
UAV Navigation using Reinforcement Learning: A Systematic Approach to Progressive Reward Function Design Open
Fixed-wing unmanned aerial vehicles (UAVs) present significant path-following control challenges due to underactuation, coupled dynamics and stall constraints. These challenges complicate traditional control design and motivate the applica…
View article: An Improved Hybrid MRAC–LQR Control Scheme for Robust Quadrotor Altitude and Attitude Regulation
An Improved Hybrid MRAC–LQR Control Scheme for Robust Quadrotor Altitude and Attitude Regulation Open
This paper presents the design and analysis of a hybrid Model Reference Adaptive Controller combined with a Linear Quadratic Regulator (MRAC–LQR) for a quadrotor unmanned aerial vehicle (UAV), addressing challenges posed by nonlinear dynam…
View article: Visual Localization and Policy Learning for Robotic Large-Diameter Peg-in-Hole Assembly Tasks
Visual Localization and Policy Learning for Robotic Large-Diameter Peg-in-Hole Assembly Tasks Open
The conventional component assembly techniques employed in manufacturing industries typically necessitate laborious manual parameter calibration prior to system deployment, while existing vision-based control algorithms suffer from limited…
View article: A fuzzy logic controller for nonlinear inverted pendulum systems: Design, simulation, and performance evaluation
A fuzzy logic controller for nonlinear inverted pendulum systems: Design, simulation, and performance evaluation Open
The inverted pendulum on a cart is a classical benchmark used to evaluate control strategies for nonlinear and underactuated systems. Its inherent instability and strong coupling between the pendulum’s rotation and the cart’s translation m…
View article: Flow-Aware Trajectory Planning for Controlled-Altitude Balloons
Flow-Aware Trajectory Planning for Controlled-Altitude Balloons Open
Autonomous high-altitude balloons are promising tools for studying dynamic environments. Their ability to navigate strong wind currents with minimal actuation makes them efficient options for scientific research. In fact, the flow in which…
View article: DESIGN AND SIMULATION OF AN UNDERACTUATED END-EFFECTOR FOR LOW-DAMAGE SWEET PEPPER HARVESTING
DESIGN AND SIMULATION OF AN UNDERACTUATED END-EFFECTOR FOR LOW-DAMAGE SWEET PEPPER HARVESTING Open
This paper presents the design of a linkage-based underactuated end-effector for sweet pepper harvesting. The end-effector employs a single motor to drive a spring differential system, enabling two three-phalanx fingers to sequentially and…
View article: Formation Control of Underactuated AUVs Based on Event-Triggered Communication and Fractional-Order Sliding Mode Control
Formation Control of Underactuated AUVs Based on Event-Triggered Communication and Fractional-Order Sliding Mode Control Open
To address the challenges faced by multiple autonomous underwater vehicles (AUVs) in formation control under complex marine environments—such as model uncertainties, external disturbances, dynamic communication topology variations, and lim…
View article: PushingBots: Collaborative Pushing via Neural Accelerated Combinatorial Hybrid Optimization
PushingBots: Collaborative Pushing via Neural Accelerated Combinatorial Hybrid Optimization Open
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interac…
View article: PushingBots: Collaborative Pushing via Neural Accelerated Combinatorial Hybrid Optimization
PushingBots: Collaborative Pushing via Neural Accelerated Combinatorial Hybrid Optimization Open
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interac…
View article: Enabling external sensorless in-hand object position manipulation by linkage-based underactuated hands with mechanical stoppers
Enabling external sensorless in-hand object position manipulation by linkage-based underactuated hands with mechanical stoppers Open
View article: Instantaneous power consumption with regenerative braking model for N-trailers system on off-road scenarios
Instantaneous power consumption with regenerative braking model for N-trailers system on off-road scenarios Open
This thesis presents a comprehensive modeling and analysis framework for the Generalized N-Trailer (GNT) system, a class of nonholonomic articulated vehicles composed of a unicycle tractor and an arbitrary number of passively coupled trail…
View article: "Experimental data"
"Experimental data" Open
"The electro-hydraulic servo Stewart platform actively compensates wave-induced ship attitude variations to provide a stable base for offshore operations. However, conventional motion compensation systems typically treat trajectory plannin…
View article: Autonomous Suspended-Payload UAV with Self-Sensing and Anti-Swing for Outdoor Transportation
Autonomous Suspended-Payload UAV with Self-Sensing and Anti-Swing for Outdoor Transportation Open
Suspended-payload UAVs face a core dilemma in outdoor transportation: their stability is severely compromised by payload swing, yet conventional anti-swing controllers depend on real-time state feedback that is difficult to obtain without …
View article: Effectiveness Comparison of Selected 3D Tracking Controllers for Underactuated UUVs with Small Displacement of Mass Center
Effectiveness Comparison of Selected 3D Tracking Controllers for Underactuated UUVs with Small Displacement of Mass Center Open
This work is devoted a particular trajectory tracking problem of underactuated unmanned underwater vehicles (UUVs) with model reduced to five degrees of freedom (DOF). Such a model is quite widespread in the literature and used to describe…
View article: Cascaded guidance, state estimation, and control for depth tracking of underactuated autonomous underwater vehicles
Cascaded guidance, state estimation, and control for depth tracking of underactuated autonomous underwater vehicles Open
View article: Dual-MPC Footstep Planning for Robust Quadruped Locomotion
Dual-MPC Footstep Planning for Robust Quadruped Locomotion Open
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations by optimizing footstep placement. Model-based locomotion app…
View article: High-Altitude Balloon Station-Keeping with First Order Model Predictive Control
High-Altitude Balloon Station-Keeping with First Order Model Predictive Control Open
High-altitude balloons (HABs) are common in scientific research due to their wide range of applications and low cost. Because of their nonlinear, underactuated dynamics and the partial observability of wind fields, prior work has largely r…
View article: Dual-MPC Footstep Planning for Robust Quadruped Locomotion
Dual-MPC Footstep Planning for Robust Quadruped Locomotion Open
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations by optimizing footstep placement. Model-based locomotion app…
View article: High-Altitude Balloon Station-Keeping with First Order Model Predictive Control
High-Altitude Balloon Station-Keeping with First Order Model Predictive Control Open
High-altitude balloons (HABs) are common in scientific research due to their wide range of applications and low cost. Because of their nonlinear, underactuated dynamics and the partial observability of wind fields, prior work has largely r…