Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic complex motions. Therefore, soft-robots require new approaches to e.g., modeling, control, dynamics, and planning. One of the control strategies that ensures compliance is the impedance control. During the task execution in the presence of coupling force and position constraints, a dynamic behavior increases the flexibility of the impedance control. This imposes some additional constraints on the stability of the control system. To tackle them, we propose a variable impedance control in configuration space for a modular soft robot manipulator (MSRM) in the presence of model uncertainties and external forces. The external loads are estimated in configuration space using a momentum-based approach in order to reduce the calculation complexity, and the adaptive back-stepping sliding mode (ABSM) controller is designed to guard against uncertainties. Stability analysis is performed using Lyapunov theory which guarantees not only the exponential stability of each state under the designed control law, but also the global stability of the closed-loop system. The system performance is benchmarked against other conventional control methods, such as the sliding mode (SM) and inverse dynamics PD controllers. The results show the effectiveness of the proposed variable impedance control in stabilizing the position error and diminishing the impact of the external load compared to SM and PD controllers.
Impedance and Stability Targeted Adaptation for Aerial Manipulator with Unknown Coupling Dynamics
Robotics Research Center, International Institute of Information Technology Hyderabad (IIIT-H)（印度海得拉巴国际信息技术学院机器人研究中心）；The University of Manchester（曼彻斯特大学）；Southeast University（东南大学）
Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
Computer Science and Artificial Intelligence Laboratory, MIT（麻省理工学院计算机科学与人工智能实验室）；Delft University of Technology（代尔夫特理工大学）；German Aerospace Center (DLR)（德国航空航天中心）
Plug, Play and Comply: Plugin-Based Compliant Control in ROS 2
College of Information Science and Technology, Eastern Institute of Technology（信息科学与技术学院，东方理工学院）；Zhejiang Key Laboratory of Industrial Intelligence and Digital Twin, Eastern Institute of Technology（浙江省工业智能与数字孪生重点实验室，东方理工学院）
A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators
Robotics and Mechatronics (RaM), University of Twente（机器人与机电学（RaM），代尔夫特理工大学）；Student at Sapienza University of Rome（罗马大学斯帕齐亚诺学生）；DIAG, Sapienza University of Rome（斯帕齐亚诺大学DIAG）
Prismatic-Bending Transformable (PBT) Joint for a Modular, Foldable Manipulator with Enhanced Reachability and Dexterity
Department of Mechanical Engineering, University of California, Berkeley（加州大学伯克利分校机械工程系）；The Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong（香港中文大学机械与自动化工程系）；FANUC Advanced Research Laboratory, FANUC America Corporation, USA（FANUC美国公司先进研究实验室）
A Modular, Tendon Driven Variable Stiffness Manipulator with Internal Routing for Improved Stability and Increased Payload Capacity
National Robotarium（国家机器人研究院）；Heriot Watt University（赫瑞瓦特大学）；Institute for Integrated Micro and Nano Systems（集成微纳系统研究所）；University of Edinburgh（爱丁堡大学）；Tough Cyberphysical AI Research Center (TCPAI)（硬核赛博物理人工智能研究中心）；Tohoku University（东北大学）；Senai Cimatec（塞奈西马泰克）
Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments
Research Center for Systems and Technologies (SYSTEC), ARISE, Faculty of Engineering, University of Porto, 4200-465 Porto, Portugal（系统与技术研究中心（SYSTEC），ARISE，工程学院，波尔图大学，葡萄牙4200-465波尔图）；Intelligent Autonomous Systems Lab, Department of Computer Science, TU Darmstadt, Germany（智能自主系统实验室，计算机科学系，达姆施塔特技术大学，德国）
Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies
Humanoids and Human Centered Mechatronics Research Line, Istituto Italiano Di Tecnologia (IIT)（意大利理工学院人机一体化机电一体化研究组）；Tencent Robotics X Lab（腾讯机器人实验室）；The University of Hong Kong（香港大学）
A Task-Driven, Planner-in-the-Loop Computational Design Framework for Modular Manipulators
Humanoids and Human Centered Mechatronics Research Line, Italian Institute of Technology (IIT) Genoa, Italy（意大利理工学院（IIT）热那亚人类与以人为中心的机电研究组）；Department of Industrial Engineering, University of Trento, Trento, Italy（特伦托大学工业工程系）
HyDRA Scorpion: A Cost-effective and Modular ROV for Real-Time Underwater Inspection, Intervention, and Object Detection
Department of Computer Science and Engineering（计算机科学与工程系）；United International University（国际联合大学）；Department of Electrical and Electronic Engineering（电气与电子工程系）
Modular Adaptive Aerial Manipulation under Unknown Dynamic Coupling Forces
The University of Manchester（曼彻斯特大学）；Czech Technical University in Prague（布拉格捷克技术大学）；International Institute of Information Technology Hyderabad（海德拉巴国际信息技术学院）；Southeast University（东南大学）
