Article
Robotics
Abdelrahman Abdalla, Michele Focchi, Romeo Orsolino, Claudio Semini
Summary: This article presents a paradigm for designing feasible Center of Mass (CoM) and body trajectories efficiently. The improved feasible region guarantees dynamic balance and satisfaction of joint-torque and kinematic limits. An algorithm is introduced to compute the reachable region of the CoM and an efficient planning strategy is proposed. The capabilities of the improved feasible region and planning strategy are validated through simulations and experiments on two different robots.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Automation & Control Systems
Hao Sun, Junjie Yang, Yinghao Jia, Changhong Wang
Summary: This article proposes a free gait generation algorithm that only takes the robot state as input. By introducing the feasible impulse polytope, which takes into account both linear and angular momentum impulses acting on the body, a leg capability metric related to the effect of take-off and touch-down on the body motion is formulated. Gait sequence, take-off timing, and touch-down location can be automatically adjusted online based on a metric threshold.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Ernesto C. Orozco-Magdaleno, Fernando Gomez-Bravo, Eduardo Castillo-Castaneda, Giuseppe Carbone
Summary: This article discusses a specific hybrid locomotion configuration that combines legs and Mecanum omniwheels into a six-legged hexapod robot, addressing theoretical backgrounds and open issues such as gait planning, modeling omnidirectional motion, and designing control architecture. The article showcases the suitability, feasibility, and successful performance of the proposed locomotion strategies, presenting experimental results and novel scientific contributions in the field of hybrid mobile robots.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Robotics
Haitao Yu, Haibo Gao, Zongquan Deng
Summary: This article extends the traditional SLIP model from sagittal hopping into spatially running and proposes a novel perturbation-based approach to obtain an analytical approximate solution for the 3-D-SLIP model. The derived solution offers satisfactory prediction performance in a wide range of model parameter combinations, showcasing potential in motion planning and gait control for legged robots.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Robotics
Tae Myung Huh, Cyndia Cao, Jadesola Aderibigbe, Deaho Moon, Hannah S. Stuart
Summary: We have developed a new method, called the Resistive Force Theory based Granular Limit Surface (RFT-GLS), to predict and guide the behaviors of forceful ground robots. Through a case study with the MiniRQuad, a small mobile robotic system, we have demonstrated that the RFT-GLS can accurately predict the force and motion required for transporting loads of varying masses.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Electrical & Electronic
Xinmeng Ma, Gang Wang, Kaixin Liu, Xi Chen, Jixin Wang, Biye Pan, Liquan Wang
Summary: The mixing of granular media and water poses a challenge to the running motion of robots. In this study, the researchers extended the granular resistive force theory to saturated wet granular media, and tested the force laws of robotic legs in dry and wet conditions. The results showed the effectiveness of the extended theory and the differences in force laws between the two media.
Article
Robotics
Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter
Summary: This article presents a complete control pipeline capable of handling nonsmooth, nonlinear terrain geometry problems in real-time. By optimizing the base pose and footholds, along with a height map, the stability and robustness are improved to avoid converging into undesirable local optima.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Computer Science, Information Systems
Avik De, T. Turner Topping, J. Diego Caporale, Daniel E. Koditschek
Summary: This paper proposes a hierarchical approach to solve the problem of translating the center of mass (CoM) while fixing the orientation of a rigid body in legged robotics. The method decouples CoM task planning from body orientation control, allowing for efficient computation with simplified models, and utilizes pendular dynamics in CoM task planning. Through numerical and empirical examples, the proposed method demonstrates similar performance with a smaller computational footprint compared to a model-based model-predictive controller in certain tasks.
Article
Automation & Control Systems
Kefei Wen, Clement Gosselin
Summary: This article presents a static model-based approach for grasping force control of a class of low-inertia kinematically redundant parallel and hybrid parallel robots with remotely operated gripper. Three different static models are developed and a combined position and grasping force control scheme is proposed.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Biotechnology & Applied Microbiology
Jiayu Ding, Talia Y. Moore, Zhenyu Gan
Summary: Researchers developed a simulated jerboa model to investigate the mechanisms of gait transitions in non-cursorial animals. Results showed that coupled changes and uncoupled models of the neutral leg swing angle are the two primary mechanisms that influence gait transitions.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Engineering, Multidisciplinary
Henry Chang, Justin Chang, Glenna Clifton, Nick Gravish
Summary: This study investigated a passive method for overcoming swing-collisions in legged locomotion by implementing virtual compliance control in a robot leg. The virtual compliance methods improved the successful negotiation of step obstacles by over 70%, highlighting the importance of limb compliance in enhancing walking performance in naturalistic environments.
BIOINSPIRATION & BIOMIMETICS
(2021)
Article
Robotics
Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter
Summary: Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into underexplored areas. However, effectively utilizing exteroceptive and proprioceptive perception for locomotion remains a grand challenge in robotics.
Article
Automation & Control Systems
Gugyeong Sung, Kyoungchul Kong, Jungsu Choi
Summary: Unlike able-bodied humans, people with paraplegia are unable to control their center of gravity. Powered exoskeletons, although they have been used to assist people with paraplegia to walk similarly to able-bodied people, may not be the best option because they are limited in their degrees of freedom and cannot help control the center of gravity. Therefore, research is needed to develop a suitable gait pattern for people with paraplegia wearing powered exoskeletons.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Engineering, Multidisciplinary
Max Austin, Ashley Chase, Brian Van Stratum, Jonathan E. Clark
Summary: This study investigates multi-modal limb locomotion and develops a limb aquatic-scansorial multi-modal robot.
BIOINSPIRATION & BIOMIMETICS
(2023)
Article
Engineering, Multidisciplinary
Han Hu, Anas Batou, Huajiang Ouyang
Summary: This paper addresses the issue of frictional contact between an elastomer and a rigid body with randomly rough surfaces. The research is based on a framework for generating random geometries and a robust frictional contact algorithm, both realized through the approach of Isogeometric analysis (IGA). Numerical experiments show that factors such as the roughness and correlation length of the random surface, as well as the external traction, have a significant influence on the ratios characterizing the frictional contact.
COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING
(2022)
Article
Automation & Control Systems
Jong-Han Kim, Sanjay Lall
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2015)
Article
Automation & Control Systems
Laurent Lessard, Sanjay Lall
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2015)
Article
Engineering, Electrical & Electronic
Chung-Ching Chang, Dimitry Gorinevsky, Sanjay Lall
IEEE TRANSACTIONS ON POWER SYSTEMS
(2015)
Article
Automation & Control Systems
Laurent Lessard, Sanjay Lall
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2016)
Article
Engineering, Electrical & Electronic
Thanchanok Teeraratkul, Daniel O'Neill, Sanjay Lall
IEEE TRANSACTIONS ON SMART GRID
(2018)
Article
Automation & Control Systems
Ta-Chung Wang, Sanjay Lall, Matthew West
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2013)
Article
Automation & Control Systems
John Swigart, Sanjay Lall
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2014)
Article
Engineering, Electrical & Electronic
Chung-Ching Chang, Dimitry Gorinevsky, Sanjay Lall
IEEE TRANSACTIONS ON SMART GRID
(2014)
Article
Computer Science, Interdisciplinary Applications
Andrei Kanavalau, Sanjay Lall
Summary: This study investigates the application of Hamilton-Jacobi (HJ) reachability and model predictive control (MPC) to prevent thermal runaway and improve process efficiency in exothermic batch processes. The unsafe states are identified using HJ reachability, and the avoid set, which includes states that inevitably become unsafe, is computed. A novel MPC scheme is then proposed, incorporating the avoid set as a constraint. Simulations demonstrate that this scheme achieves improved safety and process efficiency compared to MPC schemes without the avoid set. The results suggest that HJ reachability and MPC can be used for safe process intensification in exothermic batch processes.
COMPUTERS & CHEMICAL ENGINEERING
(2022)
Proceedings Paper
Automation & Control Systems
Sanjay Lall, Calin Cascaval, Martin Izzard, Tammo Spalink
Summary: In this paper, we discuss the control of bittide distributed systems and analyze the performance of approximate proportional-integral control for synchronization. We develop a simple continuous-time model to demonstrate the stability of the system dynamics for any positive choice of gains. Additionally, we derive explicit formulas to show that the closed-loop performance measured using the L-2 norm is a product of resistance distances in the graph and controller gains.
2022 EUROPEAN CONTROL CONFERENCE (ECC)
(2022)
Proceedings Paper
Computer Science, Hardware & Architecture
Nicholas C. Landolfi, Daniel C. O'Neill, Sanjay Lall
Summary: This paper investigates the application of probabilistic graphical models in characterizing cloud telemetry and proposes an alternative modeling technique to overcome the limitations of traditional methods. The authors provide a feasible estimation procedure and demonstrate the effectiveness of the model in detecting anomalies in both synthetic and small-scale software systems.
2021 24TH CONFERENCE ON INNOVATION IN CLOUDS, INTERNET AND NETWORKS AND WORKSHOPS (ICIN)
(2021)
Proceedings Paper
Computer Science, Artificial Intelligence
Nikhil Nigam, Sanjay Lall, Pedram Hovareshti, Kristopher Ezra, Linas Mockus, Devendra Tolani, Shawn Sloan
2018 FIRST IEEE INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE FOR INDUSTRIES (AI4I 2018)
(2018)
Proceedings Paper
Automation & Control Systems
A. Lemon, Sanjay Lall
2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
(2015)
Proceedings Paper
Automation & Control Systems
Jeffrey Wu, Sanjay Lall
2015 AMERICAN CONTROL CONFERENCE (ACC)
(2015)
Article
Automation & Control Systems
Laurent Lessard, Sanjay Lall
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
(2014)