Robots are becoming standard collaborators not only in factories, hospitals, and offices, but
also in people's homes, where they can play an important role in situations where a human …

In this article, a control scheme of the flexible joint robot contacting with an unknown
environment is proposed to realize force tracking. Tracking performance is ensured by …

Robotic rigid contact-rich manipulation in an unstructured dynamic environment requires an
effective resolution for smart manufacturing. As the most common use case for the …

Shared control, which permits a human operator and an autonomous controller to share the
control of a telerobotic system, can reduce the operator's workload and/or improve …

Robotic dual-arm manipulation often requires close cooperation between the arms. Dual-
arm manipulation tasks are always difficult to program in advance, and then, executed …

This article proposes a novel scheme—based on power-shaping control (PSC)—that can
endow flexible-joint robots with both tracking, and interactional, capabilities. In virtue of …

The inverse kinematics problem of robotic arms can be solved effectively based on the
kinematic model. However, the control of robotic arms with unknown kinematic models …

Motion-force control of redundant manipulators is universally regarded as a pivotal issue in
industrial manufacturing, especially for the processing of precision instruments. This paper …

In the field of robot reinforcement learning (RL), the reality gap has always been a problem
that restricts the robustness and generalization of algorithms. We propose Simulation Twin …

This paper proposes a super‐twisting terminal sliding mode‐based robust impedance
controller to improve the compliance and robustness in robot‐environment interaction …