Control and Systems Engineering, Mechanical Engineering
5
Scopus Publications
42
Scholar Citations
4
Scholar h-index
1
Scholar i10-index
Scopus Publications
Adaptive Flight Stabilization Framework for a Planar 4R-Foldable Quadrotor: Utilizing Morphing to Navigate in Confined Environments Jawad Mehmood Butt, Xin Ma, Xiangyu Chu, K. W. Samuel Au Proceedings of the American Control Conference, 2022 A planar 4R-foldable quadrotor, i.e., foldable quadrotor with four independent revolute joints for wings rotation has the edge over conventional quadrotor in confined space navigation due to its morphing capability and multimodal behaviors. However, the morphing induced inertial and center of gravity variations cause attitude destabilization, which impedes the trajectory tracking efficiency and reduces the flight stability in confined environments. In this paper, we propose an adaptive flight stabilization framework for a planar 4R-foldable morphing quadrotor that comprises the adaptive control and geometric tracking control. The adaptive control laws are developed to estimate the morphing induced inertial and center of gravity variations with respect to the desired attitude dynamics. These adaptive laws are then used to develop the feedback component of geometric tracking control which improves the trajectory tracking efficiency. Together with the controller design, the boundness of the attitude tracking errors is proved. Moreover, the simulations were conducted to validate the effectiveness of the proposed control framework in confined environments. Initial results show that the adaptive stabilization framework is effective in attitude stabilization and enhancing the trajectory tracking performance of a planar 4R-foldable morphing quadrotor.
Modeling and Control of Soft Robotic Tail Based Aerial Maneuvering (STAM) System: Towards Agile Self-Righting with a Soft Tail Jawad Mehmood Butt, Xiangyu Chu, Hao Zheng, Xiaomei Wang, Ka-Wai Kwok, K.W. Samuel Au 2021 20th International Conference on Advanced Robotics Icar 2021, 2021 Recent studies have demonstrated feasible aerial maneuvering with rigid tails. However, soft robotic tails were never investigated for aerial maneuvering applications, and no modeling strategy was found that exploits the soft robotic tail based aerial maneuvering (STAM) system kinematics for flight phase control (aerial self-righting). In this work, we provide the feasible solution to flight phase control of STAM systems (1-DOF and 2-DOF) by proposing their forward kinematics, differential kinematics, and flight phase models. We integrate Piecewise constant curvature (PCC) and Augmented rigid robot (ARR) modeling formulations to model the kinematics of 1-DOF STAM (body-tail pitch or body-tail yaw) system and propose its flight phase model & control. Then, we introduce the soft-tail “arbitrary-plane” bending which aids the extension of integrated modeling approaches to model the forward kinematics of 2-DOF (pitch and yaw) soft tail. The 2-DOF STAM system (body-tail pitch and yaw together) is composed of rigid body, cable-driven soft tail, and actuation units, so we develop their differential kinematics which maps the tail shape velocities with the body orientation angular rates and the tail cable velocities respectively. Together with the forward and differential kinematics, we present flight phase model and control of 2-DOF STAM system which ensures the conservation of total angular momentum. The simulations, which demonstrates the self-righting maneuvers with STAM systems are provided and the effective simulation results validates our proposed models.
Design, Fabrication, and Analysis of a Sensorized Soft Robotic Gripper Jawad Mehmood Butt, Hesheng Wang, Radan Pathan 8th Annual IEEE International Conference on Cyber Technology in Automation Control and Intelligent Systems Cyber 2018, 2019 In this paper, we present a novel design and fabrication procedure of soft robotic actuator that has the attributes of pressure and curvature sensing. The pressure sensitive layer consists of five touch sensitive regions is embedded in the soft actuator and a flexible fabric-based curvature sensor is designed and attached to the back of soft actuator. The fabrication and design are uncomplicated, cost-efficient, and do not affect the continuous bending of the soft actuator. Characterization of both sensors is performed and the results are analyzed. The actuator is capable of providing haptic and curvature feedback based on the piezoresistive effect. In the end, we utilize this feedback for a closed loop grasping experiment by placing the two actuators as a parallel gripper as well as only pressure feedback is also used to present the concept of soft haptic perception.
Implementation of Automation Medication Dispensing System based on Mobile Robotic Remote Sensing Unit Asfandiar Ayub, Usama Bin Zahid, Jawad Mehmood Butt 2019 2nd International Conference on Communication Computing and Digital Systems C Code 2019, 2019 In this paper, the Implementation of Automation Medication Dispensing System Based on Mobile Robotic Remote Sensing Unit is presented. The aim is to enhance nursing synergy for medication administration process in disastrous events because as observed that health sectors are not fully equipped to cop undesirable events efficiently like in providing timely medication administration system to the victims of disasters. Therefore, the scope of this project is to facilitate those calamitous areas victims by deploying this innovative robotic mobile dispensing system in medical camps to provide autonomous medication services as per prescription given by the doctor. This proposed system provides an aid in medical administration to pursue the medication task efficiently by minimizing the need of medical staff and human errors. A comparative study on why this proposed system is efficient and better from other medicine dispensing systems have been discussed in the paper.
Design of Carbon Fiber Based Flexible Soft Heater for SMP Embedded Soft Actuators: A Step Towards Artificial Joints Radan Pathan, Hesheng Wang, Hafeez Ur Rehman, Jawad Mehmood Butt, Yujie Chen 2018 IEEE International Conference on Robotics and Biomimetics Robio 2018, 2018 Shape memory polymer is smart material of navel class, having properties of dramatically modulate its elasticity upon external stimuli such as heating. Recently, Shape memory polymer (SMP) are successfully integrated with soft robotics for resolving compliance complexities associated with them such as poor stiffness or low payload capability. However, heating of thermally responsive SMP is always been challenging for robotics application. Therefore, in this paper we have proposed a novel design of heater based on Joule heating method. The proposed heater is soft, flexible, strong and powerful to generate heat up to several degrees at lower voltages. Besides that, different experiments have been performed to investigate the repeatability and heating performance of the proposed design. Results from the electrically actuated shape recovery test have shown that the proposed heater can uniformly heat 1.5mm thick SMP sheet and perform quick shape recovery within 30 seconds at 12V. Finally, to demonstrate the practical application of our proposed design, we have fabricated a soft robotic finger and introduced the concept of artificial joints by combining SMP substrate with attached heaters to a soft pneumatic finger and achieved different bending motions by activating different sets of joints.
RECENT SCHOLAR PUBLICATIONS
Dome-shaped Polystable Structure for Versatile Locomotion of Magnetoactive Soft Robots JM Butt, X Xiong, P Manoonpong 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft), 1092-1097 , 2026 2026
Adaptive flight stabilization framework for a planar 4R-foldable quadrotor: Utilizing morphing to navigate in confined environments JM Butt, X Ma, X Chu, KWS Au 2022 American control conference (ACC), 1-7 , 2022 2022 Citations: 9
Modeling and control of soft robotic tail based aerial maneuvering (stam) system: Towards agile self-righting with a soft tail JM Butt, X Chu, H Zheng, X Wang, KW Kwok, KWS Au 2021 20th International Conference on Advanced Robotics (ICAR), 531-538 , 2021 2021 Citations: 8
Implementation of Automation Medication Dispensing System based on Mobile Robotic Remote Sensing Unit A Ayub, UB Zahid, JM Butt 2019 2nd International Conference on Communication, Computing and Digital … , 2019 2019 Citations: 7
Design of carbon fiber based flexible soft heater for smp embedded soft actuators: A step towards artificial joints R Pathan, H Wang, HU Rehman, JM Butt, Y Chen 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1208 … , 2018 2018 Citations: 3
Design, fabrication, and analysis of a sensorized soft robotic gripper JM Butt, H Wang, R Pathan 2018 IEEE 8th Annual International Conference on CYBER Technology in … , 2018 2018 Citations: 15
MOST CITED SCHOLAR PUBLICATIONS
Design, fabrication, and analysis of a sensorized soft robotic gripper JM Butt, H Wang, R Pathan 2018 IEEE 8th Annual International Conference on CYBER Technology in … , 2018 2018 Citations: 15
Adaptive flight stabilization framework for a planar 4R-foldable quadrotor: Utilizing morphing to navigate in confined environments JM Butt, X Ma, X Chu, KWS Au 2022 American control conference (ACC), 1-7 , 2022 2022 Citations: 9
Modeling and control of soft robotic tail based aerial maneuvering (stam) system: Towards agile self-righting with a soft tail JM Butt, X Chu, H Zheng, X Wang, KW Kwok, KWS Au 2021 20th International Conference on Advanced Robotics (ICAR), 531-538 , 2021 2021 Citations: 8
Implementation of Automation Medication Dispensing System based on Mobile Robotic Remote Sensing Unit A Ayub, UB Zahid, JM Butt 2019 2nd International Conference on Communication, Computing and Digital … , 2019 2019 Citations: 7
Design of carbon fiber based flexible soft heater for smp embedded soft actuators: A step towards artificial joints R Pathan, H Wang, HU Rehman, JM Butt, Y Chen 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1208 … , 2018 2018 Citations: 3
Dome-shaped Polystable Structure for Versatile Locomotion of Magnetoactive Soft Robots JM Butt, X Xiong, P Manoonpong 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft), 1092-1097 , 2026 2026
