5 accepted papers
Foldable, origami-inspired, and laminate mechanisms are highly susceptible to deformation under external loading, which can lead to position or orientation errors if idealized kinematic models are used. According to dimensional scaling laws, laminate devices can often be treated as rigid bodies at m…
In this paper, we present a decentralized control approach based on a Nonlinear Model Predictive Control (NMPC) method that employs barrier certificates for safe navigation of multiple nonholonomic wheeled mobile robots in unknown environments with static and/or dynamic obstacles. This method incorp…
In this letter, we propose a gradient-based nonlinear control approach for stabilizing a nonholonomic Wheeled Mobile Robot (WMR) to a target position in environments with and without obstacles. This approach enables any gradient-based feedback control law (with bounded or unbounded gradients) develo
In this paper, we present an optimal control approach using Linear Matrix Inequalities (LMIs) for trajectory tracking control of a three-wheeled omnidirectional mobile robot in the presence of external disturbances on the robot's actuators and noise in the robot's sensor measurements. First, a state…
This letter addresses the kinematic modeling and control of hyper-redundant robots inspired by the octopus arm. We propose a discrete multi-segment model in which each segment is a 6-DoF Gough-Stewart parallel platform. Our model is novel in that it can reproduce all generic motions of an octopus ar