Related papers: Inverse Kinematics with Forward Dynamics Solvers f…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
Inverse problems arise in a number of domains such as medical imaging, remote sensing, and many more, relying on the use of advanced signal and image processing approaches -- such as sparsity-driven techniques -- to determine their…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Simultaneously achieving low trajectory errors and compliant control \emph{without} explicit models of the task was effectively addressed with Compliant Movement Primitives (CMP). For a single-robot task, this means that it is accurately…
The intrinsic compliance and high degree of freedom (DoF) of redundant soft manipulators facilitate safe interaction and flexible task execution. However, effective kinematic control remains highly challenging, as it must handle…
We study in this paper a forward-backward-forward dynamical system for solving a mixed variational inequality problem in a real Hilbert space. For the convergence analysis of our proposed system, we apply the Lyapunov analysis to obtain the…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…
The image-based visual servoing without models of system is challenging since it is hard to fetch an accurate estimation of hand-eye relationship via merely visual measurement. Whereas, the accuracy of estimated hand-eye relationship…
We introduce a new dynamical system, at the interface between second-order dynamics with inertia and Newton's method. This system extends the class of inertial Newton-like dynamics by featuring a time-dependent parameter in front of the…
This paper presents a novel approach using sensitivity analysis for generalizing Differential Dynamic Programming (DDP) to systems characterized by implicit dynamics, such as those modelled via inverse dynamics and variational or implicit…
This paper studies the kinematic tracking control problem for aerial manipulators. Existing kinematic tracking control methods, which typically employ proportional-derivative feedback or tracking-error-based feedback strategies, may fail to…
In this paper, we propose a novel dynamic calibration method for sparse inertial motion capture systems, which is the first to break the restrictive absolute static assumption in IMU calibration, i.e., the coordinate drift RG'G and…
In task-based inverse dynamics control, reference accelerations used to follow a desired plan can be broken down into feedforward and feedback trajectories. The feedback term accounts for tracking errors that are caused from inaccurate…
Snake robots offer considerable potential for endoscopic interventions due to their ability to follow curvilinear paths. Telemanipulation is an open problem due to hyper-redundancy, as input devices only allow a specification of six degrees…
A high order optimal control strategy implemented in the Koopman operator framework is proposed in this work. The new technique exploits the Koopman representation of the solution of the equations of motion to develop an energy optimal…
External and internal convertible (EIC) form-based motion control (i.e., EIC-based control) is one of the effective approaches for underactuated balance robots. By sequentially controller design, trajectory tracking of the actuated…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajectory of its joints. Each joint has limits in the ranges of…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…