Abstract: This paper addresses the tracking control of hydraulic actuators commonly used in many hydraulically actuated robotic systems. Dynamic model of the entire actuator incorporating highly nonlinear ...

Abstract: This paper documents the design of a low-order, fixed-gain, controller that can maintain the positioning performance of an electrohydraulic actuator operating under variable load with a leaking ...

Abstract: This paper presents detailed design, analysis, prototyping, and testing of a novel force-reflecting hand-controller allowing physicians to control a robotic wrist and perform ultrasound examinations ...

Abstract: In this paper, reinforcement learning is applied to coordinate, in a decentralized fashion, the motions of a pair of hydraulic actuators whose task is to firmly hold and move an object along ...