Learning dynamic models for open loop predictive control of soft robotic manipulators
The soft capabilities of biological appendages like the arms of Octopus vulgaris and
elephants' trunks have inspired roboticists to develop their robotic equivalents. Although …
elephants' trunks have inspired roboticists to develop their robotic equivalents. Although …
Stable open loop control of soft robotic manipulators
Dynamic control of soft robotic manipulators is a challenging field still in its nascent stages.
Modeling is still a major hurdle due to its high dimensional nonlinear dynamic properties …
Modeling is still a major hurdle due to its high dimensional nonlinear dynamic properties …
Robustness analysis of a closed-loop controller for a robot manipulator in Real environments
EC Agbaraji - Physical Science International Journal, 2015 - science.sdpublishers.org
The need to design a robot manipulator that can complete tasks satisfactorily in the
presence of significant uncertainties brought about the continued advance research in …
presence of significant uncertainties brought about the continued advance research in …
Development of self-stabilizing manipulator inspired by the musculoskeletal system using the Lyapunov method
The stabilization of man-made dynamic systems has been achieved by sensor-based state
feedback control with high computational bandwidth, fast signal transmission speed, and stiff …
feedback control with high computational bandwidth, fast signal transmission speed, and stiff …
Learning robustly stable open-loop motions for robotic manipulation
Robotic arms have been shown to be able to perform cyclic tasks with an open-loop stable
controller. However, model errors make it hard to predict in simulation what cycle the real …
controller. However, model errors make it hard to predict in simulation what cycle the real …
[PDF][PDF] Machine learning approaches for control of soft robots
TG Thuruthel - Unpublished, 2019 - researchgate.net
Conventional robotics relied on rigid materials for accurate, precise and fast motion
capabilities. As robots expand from assembly lines into our natural environment, they are …
capabilities. As robots expand from assembly lines into our natural environment, they are …
Analytical investigation of the stabilizing function of the musculoskeletal system using Lyapunov stability criteria and its robotic applications
The stabilization of man-made artificial systems has been achieved by sensor based state
feedback control with high computational bandwidth and high stiffness structures. In …
feedback control with high computational bandwidth and high stiffness structures. In …
The effect of the choice of feedforward controllers on the accuracy of low gain controlled robots
High feedback gains cannot be used on all robots due to sensor noise, time delays or
interaction with humans. The problem with low feedback gain controlled robots is that the …
interaction with humans. The problem with low feedback gain controlled robots is that the …
A simplified method in human to robot motion map** schemes
In this paper, a simplified method in human to robot motion map** schemes is proposed
and a prototype has been implemented. The proposed design contains two arms, a sample …
and a prototype has been implemented. The proposed design contains two arms, a sample …
Design of self-stabilizing manipulator inspired by the musculoskeletal system and its analytical investigation using Lyapunov method
The stabilization of the man-made dynamic systems has been achieved by sensor based
state feedback control algorithms which require high computational bandwidth and high …
state feedback control algorithms which require high computational bandwidth and high …