Related papers: Acrobot Swing Up with MATLAB
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
The trajectory optimization of the atmospheric entry of a reusable launch vehicle is studied. The objective is to maximize the crossrange of the vehicle subject to two control-inequality path constraints, two state-inequality path…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
We explore how high-speed robot arm motions can dynamically manipulate cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to…
A new method for stochastic control based on neural networks and using randomisation of discrete random variables is proposed and applied to optimal stopping time problems. The method models directly the policy and does not need the…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
This paper applies the multibond graph approach for rigid multibody systems to model the dynamics of general spatial mechanisms. The commonly used quick return mechanism which comprises of revolute as well as prismatic joints has been…
Training agents to autonomously learn how to use anthropomorphic robotic hands has the potential to lead to systems capable of performing a multitude of complex manipulation tasks in unstructured and uncertain environments. In this work, we…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver…
We introduce a proximal version of the stochastic dual coordinate ascent method and show how to accelerate the method using an inner-outer iteration procedure. We analyze the runtime of the framework and obtain rates that improve…
We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
Analytic and optimization methods for solving inverse kinematics (IK) problems have been deeply studied throughout the history of robotics. The two strategies have complementary strengths and weaknesses, but developing a unified approach to…