In this article, an admittance-based controller for physical human-robot interaction (pHRI) is presented to perform the coordinated operation in constrained task space. An admittance model and a soft saturation function are employed generate differentiable reference trajectory ensure that end-effector motion of manipulator complies with human avoids collision surroundings. Then, adaptive neural network (NN) involving integral barrier Lyapunov (IBLF) designed deal tracking issues. Meanwhile,...

This article focuses on the tracking control issue of robotic systems with dynamic uncertainties. To enhance accuracy in a manipulator uncertainties, an adaptive fuzzy full-state feedback is proposed. In view output-feedback unknown states, high-gain observer employed to estimate states. Considering particular requirement that output should be constrained some practical working fields, we further design and schemes constraint ensure maintains regions. By applying Lyapunov theory, it...

Human-robot co-transportation allows for a human and robot to perform an object transportation task cooperatively on shared environment. This range of applications raises great number theoretical practical challenges arising mainly from the unknown human-robot interaction model as well difficulty accurately dynamics. In this article, adaptive impedance controller is put forward in space. Vision force sensing are employed obtain hand position, measure between robot. Using latest developments...

In this article, a novel adaptive tracking control technique is developed for multiple-input-multiple-output nonlinear systems with model uncertainty and under output constraints occurring in limited time interval (OCOLT). The OCOLT, which type of sometime after (rather than the beginning of) system operation duration, can be found many practical has not been effectively addressed literature until now. By designing new shift function aid barrier functions, constrained transformed into an...

In this article, we propose a hybrid framework using visual and force sensing for human-robot co-carrying tasks. Visual is utilized to obtain human motion an observer designed estimating control input of human, which generates robot's desired toward human's intended motion. An adaptive impedance-based strategy proposed trajectory tracking with neural networks used compensate uncertainties in dynamics. Motion synchronization achieved approach yields stable efficient interaction behavior...

This article proposes a Bayesian method to acquire the estimation of human impedance and motion intention in human–robot collaborative task. Combining with prior knowledge stiffness, estimated stiffness obeying Gaussian distribution is obtained by estimation, can be also estimated. An adaptive control strategy employed track target model neural networks are used compensate for uncertainties robotic dynamics. Comparative simulation results carried out verify effectiveness emphasize advantages...

Cognitive radio network (CRN) is getting growing interest of the researchers due to its wide applicability for spectrum sharing with massive number active devices in Internet Things (IoT). In existing schemes, a large part may remain underutilized which was assigned service providers as primary users (PU). Secondary user (SU) be alternative use spectrum. The main challenge that SU keeps on sending packets an incremental manner until free channel found real conditions. It results excessive...

In this article, subject to time-varying delay and uncertainties in dynamics, we propose a novel adaptive fixed-time control strategy for class of nonlinear bilateral teleoperation systems. First, an scheme is applied estimate the upper bound delay, which can resolve predicament that has significant impacts on stability Then, radial basis function neural networks (RBFNNs) are utilized estimating systems, including operator, environmental models. Novel adaptation laws introduced address...

Endowing robots with human-like abilities to perform motor skills smoothly and naturally is one of the important goals robotics. Learning from demonstration (LfD) has been successfully applied for learning tasks on robots, which human tutor can demonstrate a successful execution. stiffness schedule strategy promising approaches lightweight collaborative execute physical in-contact while remaining compliant when possible, as it enables show adaptive impedance behavior in an effective...

In this article, neural network (NN)-based sliding mode control schemes are proposed for an n-link robotic manipulator with system uncertainties, input deadzone, and external perturbations. A novel error-shifting function is to release initial conditions. NNs employed approximate the unknown parameters of both uncertainties deadzone. To update scheme, two advanced surfaces barrier reduce dependency prior information realize a finite time convergence result, collectively. It should be pointed...

In this paper, a control scheme of the flexible joint robot contacting with an unknown environment is proposed to realize force tracking. Tracking performance ensured by designing force-based outer loop and position-based inner controller. The reference trajectory obtained from based on interaction error estimated stiffness. controller singular perturbation method designed achieve precise position tracking performance, neural network utilized compensate for uncertainties in robotic dynamics....

In this article, we propose a novel dual-filter architecture utilizing RGB-D camera data and dynamic control barrier functions (D-CBFs) for real-time obstacle avoidance in unstructured environments. The method efficiently handles static, sudden, obstacles, maintaining consistent performance across diverse scenarios. To address the challenges of processing substantial pixel depth managing increased optimization solver time multiobstacle scenarios, first introduce an enhanced fast-saliency...

Purpose This paper aims to propose cooperative control strategies for dual-arm robots in different human–robot collaborative tasks assembly processes. The authors set three regions where robot performs ways: “teleoperate” region, “co-carry” region and “assembly” region. Human holds the “master” arm of operate other “follower” by our proposed controller “teleoperation” Limited human length, is teleoperated carry distant object. In cooperatively object close human. used fixing coupled with...

The Internet of Things (IoT) is a network intelligent devices especially in healthcare-based systems. Medical (IoMT) uses wearable sensors to collect data and transmit central repositories. security privacy healthcare challenging task. aim the study provide secure sharing mechanism. existing studies schemes but still have limitations terms hiding patient identify messages exchanged upload on This paper presents Secure Aggregated Data Collection Transmission (SADCT) that provides anonymity...

In this article, we focus on human-to-cobot dual-arm handover operations for large box-type objects. The efficiency of should be ensured and the naturalness as if is going between two humans. First all, study human-human object natural process to guide research. Then, efficiency, combine probabilistic approach with online learning algorithm predict beginning task positions. updating models can deal not only human givers' regular motion patterns but also their irregular patterns. guarantee...

In this paper, a fuzzy logic control strategy is proposed for solving trajectory tracking issues of an uncertain manipulator. Fuzzy utilized to compensate nonlinear uncertainties in manipulator dynamics and full-state constraints are involved feedback controller design ensuring motion during movement processes. Disturbance observer (DO) designed counteract the effects unknown disturbances caused by friction force or other various forms disturbance. Combining with Lyapunov theory...

Abstract In the article, an event‐triggered control policy is developed for a robotic manipulator with flexible joint (RMFJ) in presence of finite‐time convergence under requirement output constraints. Due to vibration existing joint, compared rigid manipulator, it exceedingly difficult RMFJ design adaptive method realizing highly accurate control. order reduce and restrain designed by introducing fractional term. Moreover, angular displacements link are constrained predefined region using...