This article proposes a shared-control teleoperation architecture for robot manipulators transporting an object on a tray. Differently from many existing studies about remotely …
This paper tackles the problem of nonprehensile object transportation through a legged manipulator. A whole-body control architecture is devised to prevent sliding of the object …
M Selvaggio, A Garg, F Ruggiero… - … on Control Systems …, 2023 - ieeexplore.ieee.org
This article proposes a model predictive non-sliding manipulation (MPNSM) control approach to safely transport an object on a tray-like end-effector of a robotic manipulator. For …
A Heins, AP Schoellig - IEEE Robotics and Automation Letters, 2023 - ieeexplore.ieee.org
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them—known as the waiter's problem …
This work proposes an operational space control framework for non-prehensile object transportation using a robot arm. The control actions for the manipulator are computed by …
A Varshney, B Bhushan… - International Journal of …, 2021 - inderscienceonline.com
This paper develops an intelligent control approach for achieving the non-linear control of a two degrees of freedom (2DoF) ball balancer system. The ball balancer system provides an …
This work presents an extension of balance control for torque-controlled humanoid robots. Within a non-strict task hierarchy, the controller allows the robot to use the feet end-effectors …
This paper describes the procedure followed for using third-party tools and applications, avoiding the development of complex communication software modules for data sharing. A …
N Nikita, B Bhushan… - … Conference on Power …, 2023 - ieeexplore.ieee.org
This paper presents the design of Mamdani Fuzzy Inference System and Sugeno Fuzzy Inference System for controlling the ball position of two degree of freedom ball balancer …