6 papers · 1 filter
Virtual model control for compliant reaching under uncertainties
Yi Zhang, Daniel Larby, Fumiya Iida +1
Virtual Model Control (VMC) is an approach to design a controller for force-controlled robots in complex uncertain environments. While this method was primarily investigated for le…
GeoTrussRover: Morphological Computation with Contact-Semantic Control Primitives
Muyuan Ma, Yi Zhang, Yang Yang +12
Reconfigurable robots can change their contact geometry when a fixed body cannot negotiate an obstacle. A variable-geometry truss (VGT) distributes this shape change through a load…
MuJoCable: Reduced-Order Surface-Routed Cable Transmission for Tendon-Driven Robots
Yi Zhang, Qi Shao, Yicong Lin +3
Tendon transmissions reduce distal inertia and add compliance, yet routing, slack, and friction govern motion and force transfer. Mainstream rigid-body robotics simulators such as…
Passive iFIR filters for data-driven velocity control in robotics
Yi Zhang, Zixing Wang, Fulvio Forni
We present a passive, data-driven velocity control method for nonlinear robotic manipulators that achieves better tracking performance than optimized PID with comparable design com…
Distributed Virtual Model Control for Scalable Human-Robot Collaboration in Shared Workspace
Yi Zhang, Omar Faris, Chapa Sirithunge +3
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and…
Periodic robust robotic rock chop via virtual model control
Yi Zhang, Fumiya Iida, Fulvio Forni
Robotic cutting is a challenging, contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion re…