8 papers
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…
Grasping by interconnection: robust closing motions from coarse object templates
Julien Vanderheyden, Guillaume Drion, Fulvio Forni +1
Dexterous robot hands must often grasp objects whose shape, size, and pose are known only approximately. Grasp planners typically require accurate object models or correct errors w…
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…
Passive Lifted FIR Filters for Nonlinear System Identification
Zixing Wang, Fulvio Forni
Passivity is a fundamental property of physical systems. In data-driven modeling, ensuring that a learned model preserves this structural property is critical to avoiding instabili…
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…
Collaborative Drill Alignment in Surgical Robotics
Daniel Larby, Joshua Kershaw, Matthew Allen +1
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with t…
Dissipative iFIR filters for data-driven design
Zixing Wang, Yi Zhang, Fulvio Forni
We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints…
Optimal Virtual Model Control for Robotics: Design and Tuning of Passivity-Based Controllers
Daniel Larby, Fulvio Forni
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful…