... simulation and a physical quadcopter platform. 17. Keywords: quadcopter, UAV, robotics, attitude con18. trol, data-driven control, nonlinear systems, LQR con19. troller 1 INTRODUCTION 20. Over the past decade, Unmanned Aerial Vehicles 21. (UAVs) have attracted great interest from the robotics...

...Nalaka Amarasiri; Alan A. Barhorst; Raju Gottumukkala In our previous works, Amarasiri et al. (2022, “Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot,” ASME Lett. Dyn. Sys. Control 2(4), p. 040902) and Amarasiri et al. (2024, “Investigating...

... strategies of both following methods and implement them in a dynamic simulation and a physical prototype. We test the performance of the two following methods and show that dynamic alignment following can reduce robot positional error and interaction force between the human and the robot. We then analyze...

...Jonathon E. Slightam; Andrew J. Steyer; Logan E. Beaver; Carol C. Young Autonomous manipulation is a challenging problem in field robotics due to uncertainty in object properties, constraints, and coupling phenomenon with robot control systems. Humans learn motion primitives over time...

...Ethan Lau; Vaibhav Srivastava; Shaunak D. Bopardikar We examine how a human–robot interaction (HRI) system may be designed when input–output data from previous experiments are available. Our objective is to learn an optimal impedance in the assistance design for a cooperative manipulation task...

... robotics Algorithm 1 GIM calculation algorithm for SMM    1: Determine m a s s , i n e r t i a with respect to body frame of each type of module used.  2: Given the s t r u c t u r e s t r i n g , a s s e m b l y p a r a m e t e r s...

... and, ( c ) with sensor dynamics compensation PSO performance with NDIR sensor: (a) environment with gas source and starting locations of agents relative to source, and PSO performance (b) without and, (c) with sensor dynamics compensation Fig. 1 Autonomous chemical-sensing aerial robot...

... Figure networked systems robotics pursuit-evasion games nonlinear controls cooperative control networked control systems nonlinear systems Office of Naval Research 10.13039/100000006 N00014-21-1-2415 This work analyzes the performance of multi-agent control methods...

...Nalaka Amarasiri; Alan A. Barhorst; Raju Gottumukkala Omnidirectional locomotion provides wheeled mobile robots (WMR) with better maneuverability and flexibility, which enhances their energy efficiency and dexterity. Universal omni-wheels are one of the best categories of wheels that can be used...

...Shail Jadav; Harish J. Palanthandalam-Madapusi The integration of robots into environments shared by humans has been enhanced through the use of redundant robots capable of executing primary tasks and secondary objectives such as obstacle avoidance and null-space impedance control. A critical...

...Van-Tam Ngo; Yen-Chen Liu This paper introduces an adaptive control design tailored for robotic systems described by Euler–Lagrange equations under actuator saturation and partial loss of effectiveness. The adaptive law put forth not only retains conventional control properties but also extends its...

... Machine Tools ,” Int. J. Mach. Tool. Manuf. , 82–83 , pp. 29 – 41 . 10.1016/j.ijmachtools.2014.03.008 [3] Slamani , M. , Joubair , A. , and Bonev , I. A. , 2015 , “ A Comparative Evaluation of Three Industrial Robots Using Three Reference Measuring Techniques ,” Ind Rob , 42 ( 6...

...Avinash Baskaran; David S. Hollinger; Rhet O. Hailey; Michael E. Zabala; Chad G. Rose Robotic exoskeletons for the hand are being explored to improve health, safety, and physical performance. However, much research effort is needed to establish reliable models of human behavior for effective human...

...N. Pushpalayam; L. Alexander; R. Rajamani This paper develops a position estimation system for a robot moving over a two-dimensional plane with three degrees-of-freedom. The position estimation system is based on an external rotating platform containing a permanent magnet and a monocular camera...

...Bo Ying Su; Zhongqi Wei; James McCann; Wenzhen Yuan; Changliu Liu Tactile skins made from textiles enhance the robot–human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins...

...Taha Yasini; Ali Pakniyat This paper studies the combined maneuver of flying and sailing for a robotic system which is referred to as a flying+sailing drone. Due to the emergence of hybrid systems behavior in tasks which involve both the flying and sailing modes, a hybrid systems formulation...

... stiffness of a robot and workpiece, needed to control the robot–workpiece elastic interactions, are often difficult to model and can vary due to geometry changes of the workpiece caused by large deformations and associated pose variations of the robot. The main contribution of this article is an algorithm...

... systems dynamics and control flight control modeling robotics unmanned vehicles vibration control Jet Propulsion Laboratory 10.13039/100006196 80NM0018D0004 The Mars Helicopter, Ingenuity, completed the first flight on another planet on April 19, 2021, and has logged over 50...

...Emiliano Quinones Yumbla; Dongting Li; Tolemy M. Nibi; Daniel M. Aukes; Wenlong Zhang Sensing for wearable robots is an ongoing challenge, especially given the recent trend of soft and compliant robots. Recently, a wearable origami exoshell has been designed to sense the user’s torso motion...

...John N. Nganga; Patrick M. Wensing This letter presents approaches that reduce the computational demand of including second-order dynamics sensitivity information into optimization algorithms for robots in contact with the environment. A full second-order differential dynamic programming (DDP...