6 papers
Admittance-Based Motion Planning with Vision-Guided Initialization for Robotic Manipulators in Self-Driving Laboratories
Shifa Sulaiman, Tobias Jensen, Francesco Schetter +1
Self driving laboratories (SDLs) are highly automated research environments that leverage advanced technologies to conduct experiments and analyze data with minimal human involveme…
Autonomous Manipulation of Hazardous Chemicals and Delicate Objects in a Self-Driving Laboratory: A Sliding Mode Approach
Shifa Sulaiman, Francesco Schetter, Tobias Jensen +2
Precise handling of chemical instruments and materials within a self-driving laboratory environment using robotic systems demands advanced and reliable control strategies. Sliding…
A Hybrid Model-based and Data-based Approach Developed for a Prosthetic Hand Wrist
Shifa Sulaiman, Francesco Schetter, Mehul Menon +1
The incorporation of advanced control algorithms into prosthetic hands significantly enhances their ability to replicate the intricate motions of a human hand. This work introduces…
An Adaptive Neuro-Controller Developed for a Prosthetic Hand Wrist
Shifa Sulaiman, Francesco Schetter, Mohammad Gohari +1
The significance of employing a controller in prosthetic hands cannot be overstated, as it plays a crucial role in enhancing the functionality and usability of these systems. This…
A Sliding Mode Controller Based on Timoshenko Beam Theory Developed for a Tendon-Driven Robotic Wrist
Shifa Sulaiman, Mohammad Gohari, Francesco Schetter +1
Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems. This paper presents the design and implementation of a tendon-drive…
Optimizing Prosthetic Wrist Movement: A Model Predictive Control Approach
Francesco Schetter, Shifa Sulaiman, Shoby George +2
The integration of advanced control strategies into prosthetic hands is essential to improve their adaptability and performance. In this study, we present an implementation of a Mo…