Disturbances caused by unknown dynamics and environmental factors render the automatic control of underwater vehicles extremely challenging. These effects are complex, time varying, and difficult to model accurately, leading to possible instability in the control process. This article focuses on the disturbance rejection problem of an underactuated bionic underwater vehicle … [Read more...] about Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework
Real-time systems
A Hybrid Visual–Haptic Framework for Motion Synchronization in Human–Robot Cotransporting
In this article, we propose a hybrid visual–haptic framework enabling a robot to achieve motion synchronization in human–robot cotransporting. Visual sensing is employed in capturing human motion in real time. To deal with the inherent delays between the human’s initiative motion and the robot’s responsive motion in cotransporting, a human motion prediction method is developed … [Read more...] about A Hybrid Visual–Haptic Framework for Motion Synchronization in Human–Robot Cotransporting
Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator
The diversity in torque-controlled actuators has enabled researchers to address numerous physical human–robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few torque-controlled actuators meet the challenging application requirements of mobility, improved torque/mass ratio, and structural integrability. To this end, … [Read more...] about Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator
