10 accepted papers
This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches that focus solely on control, we demonstrate that the desired…
A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on unconsolidated terrain, which reduces traction. This paper presents an integrated navigation and control framework for an LSMR that ensures stability and safety-defined performance on slip-prone terrain by comb
This paper introduces an innovative observer-based modular control strategy in a class of n_a-degree-of-freedom (DoF) fully electrified heavy-duty robotic manipulators (HDRMs) to (1) guarantee robustness in the presence of uncertainties and disturbances, (2) address the complexities arising from sev…
Undesired lateral and longitudinal wheel slippage can disrupt a mobile robot’s heading angle, traction, and, eventually, desired motion. This issue makes the robotization and accurate modeling of heavy-duty machinery very challenging because the application primarily involves off-road terrains, whic
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, ensuring the stability of such robots in physical human-robot-environment interaction (pHREI) is crucial. Having a wide range of Z
An algorithm that uses low-cost inertial measurement units (IMUs) for estimating link angles for floating base robotic platforms is proposed. Each link has four IMUs attached on its surfaces, and an Extended Kalman Filter (EKF) and a Complementary Filter (CF) are used for fusing the sensors' data. T…
This paper presents, for the first time, a method for learning in-contact tasks from a teleoperated demonstration with a hydraulic manipulator. Due to the use of extremely powerful hydraulic manipulator, a force-reflected bilateral teleoperation is the most reasonable method of giving a human demons…
This paper addresses the problem of pallet picking by an Articulated-Frame-Steering (AFS) hydraulic machine. We propose a macro-micro visual mobile manipulation architecture, where a smooth switching logic navigates the robot to pick an object. The state space is divided into several regions dependi
This paper, as a generalization of our previous works, presents a unified time-optimal path-following controller for Wheeled Mobile Robots (WMRs). Unlike other path-following controllers, we solve the path-following problem for all common categories of WMRs such as car-like, differential, omnidirect…
We consider low-noise angular acceleration estimation for multi-axis robotic manipulators. The proposed model uses pairwise coupled inertial measurements across a section of the kinematic chain, which is reduced to a single rigid body. Experimental validation is built upon compact low-power micro-el…