Related papers: Periodic Motion Optimization for an Underactuated …
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
It is well known that conservative mechanical systems exhibit local oscillatory behaviours due to their elastic and gravitational potentials, which completely characterise these periodic motions together with the inertial properties of the…
The second-order sub-optimal sliding mode control (SMC), known in the literature for the last two decades, is extended by a control-off mode which allows for saving energy during the finite time convergence. The systems with relative degree…
Differential Dynamic Programming (DDP) is an efficient trajectory optimization algorithm relying on second-order approximations of a system's dynamics and cost function, and has recently been applied to optimize systems with time-invariant…
This paper proposes a framework that optimizes the linkage mechanism of the quasi-serial manipulator for target tasks. This process is explained through a case study of 2-degree-of-freedom linkage mechanisms, which significantly affect the…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control scheme which…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
Precision motion stages are an essential part of a wide range of manufacturing equipment, and their motion performance are critical to the quality and throughput of the systems. The drastically increasing demand for higher manufacturing…
If one wants to explore the properties of a dynamical system systematically one has to be able to track equilibria and periodic orbits regardless of their stability. If the dynamical system is a controllable experiment then one approach is…
Periodic dynamical systems, distinguished by their repetitive behavior over time, are prevalent across various engineering disciplines. In numerous applications, particularly within industrial contexts, the implementation of model…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating…
Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…
The goal of this work is the development of a motion model for sequentially timed movement actions in robotic systems under specific consideration of temporal stabilization, that is maintaining an approximately constant overall movement…
We present a hierarchical model predictive control approach for large-scale systems based on dual decomposition. The proposed scheme allows coupling in both dynamics and constraints between the subsystems and generates a primal feasible…
Modular robots have the potential to revolutionize automation, as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base…