Related papers: A Purely-Reactive Manipulability-Maximising Motion…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
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…
Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…
This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a…
We introduce a novel method for handling endpoint constraints in constrained differential dynamic programming (DDP). Unlike existing approaches, our method guarantees quadratic convergence and is exact, effectively managing rank…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
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…
The musculoskeletal humanoid has various biomimetic benefits, and the redundant muscle arrangement is one of its most important characteristics. This redundancy can achieve fail-safe redundant actuation and variable stiffness control.…
Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…
This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
End-to-end control for robot manipulation and grasping is emerging as an attractive alternative to traditional pipelined approaches. However, end-to-end methods tend to either be slow to train, exhibit little or no generalisability, or lack…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…