Controlling the contact force on various surfaces is essential in many robotic applications
such as in service tasks or industrial use cases. Mostly, classical impedance and hybrid …

Modern Lightweight robots are constructed to be collaborative, which often results in a low
structural stiffness compared to conventional rigid robots. Therefore, the controller must be …

Humans are capable of managing multiple tasks simultaneously. It is widely assumed that
human motor control can be emulated by impedance control. To achieve human-like …

Nonlinear model-predictive control has recently shown its practicability in robotics. However
it remains limited in contact interaction tasks due to its inability to leverage sensed efforts. In …

This work presents the design and the corresponding stability analysis of a robust
backstep** controller for robot manipulators driven by brushless DC motors. The overall …

Abstract In the Fourth Industrial Revolution, wherein artificial intelligence and the automation
of machines occupy a central role, the deployment of robots is indispensable. However, the …

Optimal nonlinear dam** control was recently introduced for the second-order SISO
systems, showing some advantages over a classical PD feedback controller. This paper …

In this paper, a passivity-based controller is proposed for a reconfigurable multi-arm system,
which is employed for in-orbit assembly. The reconfigurable system is composed of multiple …

Optimal motion planning represents a crucial challenge in the areas of robotics and
automation. As robots and automated machines are being engineered to function at …

Quadrupedal manipulators require to be compliant when dealing with external forces during
autonomous manipulation, tele-operation or physical human-robot interaction. This paper …