Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3254830
{"title":"[Conference Calendar]","authors":"","doi":"10.1109/mcs.2023.3254830","DOIUrl":"https://doi.org/10.1109/mcs.2023.3254830","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135626067","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3253399
M. Johansson, M. Gafvert, K. Åstrom
{"title":"Interactive Tools for Education in Automatic Control [25 Years Ago]","authors":"M. Johansson, M. Gafvert, K. Åstrom","doi":"10.1109/mcs.2023.3253399","DOIUrl":"https://doi.org/10.1109/mcs.2023.3253399","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44249624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3253400
Gaang-Hong Yang, K. Pettersen
{"title":"Recognizing Impactful Local Activities [Member Activities]","authors":"Gaang-Hong Yang, K. Pettersen","doi":"10.1109/mcs.2023.3253400","DOIUrl":"https://doi.org/10.1109/mcs.2023.3253400","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42842095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/MCS.2023.3253422
H. Hauser, T. Nanayakkara, F. Forni
Traditional robot designs typically employ rigid body parts and high-torque servo motors. This helps to obtain simple reproducible models and, therefore, to facilitate control. Soft robotics is a new research field that deliberately expands the design toolbox to a wide range of smart and, often, soft materials. This approach is generally inspired by the remarkable performance of biological systems, which use soft structures to interact successfully with noisy and hard-to-model environments and, as a result, outperform state-of-the-art robots in open-world scenarios. However, using soft bodies comes with a significant disadvantage. Soft materials often have complex and nonlinear dynamics, which makes them hard to model and therefore difficult to control. To fulfill the potential of soft robotics to achieve performances close to biological systems, this control problem has to be solved. A promising solution is another bioinspired principle called morphological computation, which proposes to outsource functionality directly to the body morphology. From this point of view, the seemingly undesired nonlinear dynamics become a resource for implementing nonlinear functionalities. This extends the control design problem to the question of how to design the body morphology of the robot. While there exist proofs of concept that demonstrate the potential of this approach, the existing work (for the most part) is lacking mathematical rigor and a general framework. We believe that the control community has the right set of tools to support the development of a design framework for morphological computation. The goal of this article (see “Summary”) is to provide an introduction to the concepts of soft robotics and morphological computation, explain how they can work together, and (with the help of examples) illustrate their potential for control. The hope is to inspire members of the control community to develop novel control frameworks for the next generation of soft robots.
{"title":"Leveraging Morphological Computation for Controlling Soft Robots: Learning from Nature to Control Soft Robots","authors":"H. Hauser, T. Nanayakkara, F. Forni","doi":"10.1109/MCS.2023.3253422","DOIUrl":"https://doi.org/10.1109/MCS.2023.3253422","url":null,"abstract":"Traditional robot designs typically employ rigid body parts and high-torque servo motors. This helps to obtain simple reproducible models and, therefore, to facilitate control. Soft robotics is a new research field that deliberately expands the design toolbox to a wide range of smart and, often, soft materials. This approach is generally inspired by the remarkable performance of biological systems, which use soft structures to interact successfully with noisy and hard-to-model environments and, as a result, outperform state-of-the-art robots in open-world scenarios. However, using soft bodies comes with a significant disadvantage. Soft materials often have complex and nonlinear dynamics, which makes them hard to model and therefore difficult to control. To fulfill the potential of soft robotics to achieve performances close to biological systems, this control problem has to be solved. A promising solution is another bioinspired principle called morphological computation, which proposes to outsource functionality directly to the body morphology. From this point of view, the seemingly undesired nonlinear dynamics become a resource for implementing nonlinear functionalities. This extends the control design problem to the question of how to design the body morphology of the robot. While there exist proofs of concept that demonstrate the potential of this approach, the existing work (for the most part) is lacking mathematical rigor and a general framework. We believe that the control community has the right set of tools to support the development of a design framework for morphological computation. The goal of this article (see “Summary”) is to provide an introduction to the concepts of soft robotics and morphological computation, explain how they can work together, and (with the help of examples) illustrate their potential for control. The hope is to inspire members of the control community to develop novel control frameworks for the next generation of soft robots.","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44007251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3254831
{"title":"IEEE CSS Board of Governors Meeting December 5, 2022: Motions for 2023 Appointments Prepared by Magnus Egerstedt [CSS Business]","authors":"","doi":"10.1109/mcs.2023.3254831","DOIUrl":"https://doi.org/10.1109/mcs.2023.3254831","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42628058","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3253407
H. Hauser
{"title":"Soft Robotics: An Introduction to the Special Issue","authors":"H. Hauser","doi":"10.1109/mcs.2023.3253407","DOIUrl":"https://doi.org/10.1109/mcs.2023.3253407","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43008175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3253309
R. Sepulchre
{"title":"Control Challenges for Soft Robotics [About This Issue]","authors":"R. Sepulchre","doi":"10.1109/mcs.2023.3253309","DOIUrl":"https://doi.org/10.1109/mcs.2023.3253309","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45647888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3253441
A. Rantzer
{"title":"Department of Automatic Control at Lund University, Sweden [Institutes in Control]","authors":"A. Rantzer","doi":"10.1109/mcs.2023.3253441","DOIUrl":"https://doi.org/10.1109/mcs.2023.3253441","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47865581","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3253402
A. Levant
{"title":"Technical Committee on Variable Structure and Sliding Mode Control [Technical Activities]","authors":"A. Levant","doi":"10.1109/mcs.2023.3253402","DOIUrl":"https://doi.org/10.1109/mcs.2023.3253402","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44142805","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.1109/mcs.2023.3256179
{"title":"Minutes of the Control Systems Society Board of Governors Meeting December 5th, 2022 Cancún, Mexico [CSS Business]","authors":"","doi":"10.1109/mcs.2023.3256179","DOIUrl":"https://doi.org/10.1109/mcs.2023.3256179","url":null,"abstract":"","PeriodicalId":55028,"journal":{"name":"IEEE Control Systems Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46729584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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