3 accepted papers
Impedance control can be achieved within a model predictive control (MPC) framework for optimization and constraint compliance. However, user-defined or optimization-derived impedance models can be too conservative to achieve a timely convergence, or too aggressive to ensure safety. To address this,
As one of the most fundamental control modes in robotics, force/torque (F/T) control plays an essential role in a wide range of applications. However, classical F/T control fails to offer effective means to regulate the convergence sequence of the controlled states, which is beneficial in many real-
Wirelessly actuated miniature soft robots actuated by magnetic fields that can overcome gravity by climbing soft and wet tissues are promising for accessing challenging enclosed and confined spaces with minimal invasion for targeted medical operation. However, existing designs lack the directional s