Easy-to-use collaborative robotics solutions, where human workers and robots share their
skills, are entering the market, thus becoming the new frontier in industrial robotics. They …

Interaction control presents opportunities for contact robots physically interacting with their
human user, such as assistance targeted to each human user, communication of goals to …

In this paper, a physical human-robot interaction approach is presented for the developed
robotic exoskeleton using admittance control to deal with a human subject's intention as well …

In this paper, we deal with the problem of tracking control for a class of uncertain nonlinear
systems in strictfeedback form subject to completely unknown system nonlinearities, hard …

A finite-time control method is presented for-link robots with actuator saturation under time-
varying constraints of work space. Barrier Lyapunov functions (BLFs) are designed for …

This study introduces a design of robust finite-time controllers that aims to solve the
trajectory tracking of robot manipulators with full-state constraints. The control design is …

In this paper, we propose a role adaptation method for human-robot shared control. Game
theory is employed for fundamental analysis of this two-agent system. An adaptation law is …

This paper focuses on the impedance control for robotic manipulators with time-varying
output constraints. High-order control barrier functions (HoCBFs) are firstly proposed for a …

The problem of designing an analytical gain tuning and stable PID controller for nonlinear
robotic systems is a long-lasting open challenge. This problem becomes even more intricate …

In this note, we present a novel iterative learning control (ILC) method for a class of state-
constrained multi-input multi-output (MIMO) nonlinear system under state alignment …