16 accepted papers
Legged robots rely on accurate ground interaction awareness to traverse variable terrains, such as slippery surfaces. Existing slip detection methods often rely on kinematics and proprioception, which lack the sensitivity to detect early-stage slips that occur prior to catastrophic instability. Thus…
Recent advances in machine learning and deep learning have significantly enhanced robot control by improving object detection and visual feature extraction. However, ensuring theoretical guarantees of stability and convergence in learning-enabled control systems remains a major challenge. In this pa
The inner/low-level control loop of most industrial robotic manipulators is protected from any modification by a closed control architecture. The only way to specify joint inputs to them is through position or velocity commands. Furthermore, the inner controller is unknown/uncertain, as it is not re…
Robotic handling of objects in the micro-world is a challenging problem. Due to the natural differences between micro-manipulation and robotic manipulators, it is difficult to produce such a micro-hand which can function as robotic hands in the physical world. In this letter, we propose a robotic ha
The Brownian motion of micro-objects in fluid mediums is a fundamental distinction between optical manipulation and robotic manipulation in the macro-world. Besides, current control techniques for optical manipulation generally assume that the manipulated micro-objects are initially trapped prior to
Existing control systems for optical manipulation of multiple micro-objects do not allow users to interact with the systems during manipulation to deal with unexpected events, while ensuring stability of the overall control systems. In this paper, we propose a robotic control technique for human-gui…
Current control techniques for optical manipulation of multiple micro-objects employ laser tweezers to directly trap and manipulate the target microscopic objects, and thus it is not capable of coordinating and manipulating micro-objects with arbitrary types in the micro-world, including large micro…
Existing control techniques for optical trapping of cells or micro-objects can only perform either positioning control or separate control of orientation and position in a sequential manner. In this paper, we propose a robotic control technique to achieve simultaneous orientation and positioning con…
In existing control techniques for optical manipulation, the effect of the Brownian motion is usually disregarded for ease of analyzing the control systems. However, due to the prevalence of the Brownian motion and its effect on micro-manipulation of tiny objects, it is important for the Brownian ef
In this paper, we propose an integrated optimal planning and control technique for optical manipulation of a group of cells beyond the field of view. The proposed technique consists of a planning layer where a model predictive control is utilized to obtain a virtual input for manipulation of cells,…
Several control schemes have been proposed for optical tweezers, but most existing methods assume that the optical trapping is maintained throughout the manipulation, and Brownian motion is ignored for the simplification of stability analysis. However, the optical trapping is not effective when a bi
Automating item picking in the e-commerce warehouse is pressing but challenging, due to a massive variety of items, tight environmental constraints and item location uncertainty. In this paper, we present an effective and efficient strategy-based planning approach to implement the robotic picking fr…
Few comparisons have been performed across torque controllers for exoskeletons, and differences among devices have made interpretation difficult. In this study, we designed, developed and compared the torque-tracking performance of nine control methods, including variations on classical feedback con…
Microbiology is mainly concerned with the study of coexistence, cooperation and interaction among groups of microorganisms. In order to study the biological systems consist of interacting groups of microorganisms, optical manipulation can be utilized as a useful tool. In fact, the ability to manipul…
Existing control techniques for optical tweezers utilize a single focused laser beam to directly trap and manipulate a target cell. However, a typical force generated by an optical trap is extremely small (few pico-newtons) and therefore it is not sufficient to manipulate a larger cell or object. Th…
Various control approaches have been developed for micro/nanomanipulations using optical tweezers. Most existing methods assume that the micro/nanoparticles stay trapped during manipulations, and stochastic perturbations (Brownian motion) are usually ignored for the simplification of model dynamics.…