Advancements in Robot Automation and Control

The field of robot automation and control is moving towards more integrated and comprehensive approaches to tackle complex tasks. Researchers are exploring the use of multi-modal perception and object-centric planning frameworks to achieve robust and adaptive robotic assembly processes. Additionally, there is a focus on developing novel control platforms and benchmark systems to investigate nonlinear control strategies and mechatronics. The use of compliant and interactive contact-rich manipulation is also being investigated to eliminate uncertainties in assembly processes. Furthermore, theoretical frameworks for analyzing the stability of higher-order geometric nonlinear control laws are being developed. Noteworthy papers include:

  • Multi-Robot Assembly of Deformable Linear Objects Using Multi-Modal Perception, which proposes an object-centric perception and planning framework for comprehensive DLO assembly.
  • Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation, which presents a manipulation system that leverages contact between the peg and its matching hole to eliminate uncertainties.

Sources

Multi-Robot Assembly of Deformable Linear Objects Using Multi-Modal Perception

KnotDLO: Toward Interpretable Knot Tying

Spherical Pendulum with Quad-Rotor Thrust Vectoring Actuation -- A Novel Mechatronics and Control Benchmark Platform

Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation

Geometrization of Higher-Order Linear Control Laws for Attitude Control on $\mathsf{SO(3)}$

Re-examining the Legendre-Gauss-Lobatto Pseudospectral Methods for Optimal Control

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