Robot Control

Portwings: Decoding the physics of flapping flight

Abstract

In this seminar an overview will be given of the ERC AdG PortWings project and its achievements. The overview will first describe the initial goal and the context in which the project came to existence, and then will give attention to the various aspects of...
A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection

A nonlinear observer is presented for the estimation of the joint velocities and of the deformation modes and their rates for a two-link flexible robot arm, using only motor encoders and a tip position sensor. The state observer can be used then for trajectory tracking control. By monitoring the...
Task Priority Matrix at the Acceleration Level: Collision Avoidance Under Relaxed Constraints

We propose a new approach for executing the main Cartesian tasks assigned to a redundant robot while guaranteeing whole-body collision avoidance. The robot degrees of freedom are fully utilized by introducing relaxed constraints in the definition of operational and collision...
Detection and isolation of actuator faults and collisions for a flexible robot arm

This paper presents a unified approach to detection and isolation of both actuator faults and unexpected collisions for a two-link robot with a flexible forearm. The proposed approach is sensorless, i.e., no dedicated exteroceptive sensors are considered, and is based on the design of residuals to...
Exploiting Robot Redundancy for Online Learning and Control

Accurate trajectory tracking in the task space is critical in many robotics applications. Model-based robot controllers are able to ensure very good tracking but lose effectiveness in the presence of model uncertainties. On the other hand, online learning-based control laws can handle poor dynamic...
Linear-quadratic optimal boundary control of a one-link flexible arm

A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely the joint torque at the link base and a transverse force at the tip of the link. The problem is formulated and solved using...
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics

We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active and passive degrees of freedom. The generic iteration of...
Regulation by Iterative Learning in Continuum Soft Robots

The dynamic uncertainties and disturbances characterizing continuum soft robots call for the derivation of simple and possibly information-free controllers. We propose an iterative learning control law for shape regulation of continuum soft robots consisting of a PD action and a feedforward term,...
Human-robot contactless collaboration with mixed reality interface

A control system based on multiple sensors is proposed for the safe collaboration of a robot with a human. New constrained and contactless human-robot coordinated motion tasks are defined to control the robot end-effector so as to maintain a desired relative position to the human head while...
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints

We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and...

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