Abstract: Pruning is an essential agricultural practice for orchards. Proper pruning can promote healthier growth and optimize fruit production throughout the orchard’s lifespan. Robot manipulators have been developed as an automated solution for this repetitive task, which typically requires seasonal labor with specialized skills. While previous research has primarily … [Read more...] about Automated Behavior Planning for Fruit Tree Pruning via Redundant Robot Manipulators: Addressing the Behavior Planning Challenge
Robot control
Cross-Embodiment Imitation: Learning a Unified Latent Space for Multirobot Control
Abstract: We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid robots. Our method proceeds in two stages. First, we construct a decoupled latent space that captures localized motion patterns … [Read more...] about Cross-Embodiment Imitation: Learning a Unified Latent Space for Multirobot Control
Touching the Sound: Audible Features Enable Haptics for Robot Control
Haptic control interfaces can significantly improve the quality of teleoperation in robotic and mechatronic systems. However, the required force feedback introduces new challenges when highly constrained environments and systems hinder the use of conventional force sensors. In this article, we propose a haptic control method that provides feedback to the operator when force … [Read more...] about Touching the Sound: Audible Features Enable Haptics for Robot Control
Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
This article presents a novel biomimetic force and impedance adaption framework based on the broad learning system (BLS) for robot control in stable and unstable environments. Different from iterative learning control, the adaptation process is realized by a neural network (NN)-based framework, similar to a BLS, to realize a varying learning rate for feedforward force and … [Read more...] about Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
Cable-Driven Parallel Robots: Typical Configurations, Analysis Techniques, and Control Methods
Cable-driven parallel robots (CDPRs) have applications in large workspaces and at high operating speeds, which necessitates considering the mass and elasticity of cables for accurate analyses of kinematics, dynamics, workspace, trajectory planning, and control. In this article, first, the typical CDPR configurations along with their application areas are summarized. Then, … [Read more...] about Cable-Driven Parallel Robots: Typical Configurations, Analysis Techniques, and Control Methods
