Related papers: Manipulator Differential Kinematics: Part 2: Accel…
Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator…
The elementary transform sequence (ETS) provides a universal method of describing the kinematics of any serial-link manipulator. The ETS notation is intuitive and easy to understand, while avoiding the complexity and limitations of…
Tracking Cartesian motion with end~effectors is a fundamental task in robot control. For motion that is not known in advance, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses.…
Differentiable programming is revolutionizing computational science by enabling automatic differentiation (AD) of numerical simulations. While first-order gradients are well-established, second-order derivatives (Hessians) for implicit…
Motion planning schemes are used for planning motions of a manipulator from an initial pose to a final pose during a task execution. A motion planning scheme generally comprises of a trajectory planning method and an inverse kinematic…
Designing adaptable control laws that can transfer between different robots is a challenge because of kinematic and dynamic differences, as well as in scenarios where external sensors are used. In this work, we empirically investigate a…
This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
This contribution proposes a new formulation to efficiently compute directional derivatives of order one to fourth. The formulation is based on automatic differentiation implemented with dual numbers. Directional derivatives are particular…
This letter presents a method to reduce the computational demands of including second-order dynamics sensitivity information into the Differential Dynamic Programming (DDP) trajectory optimization algorithm. An approach to DDP is developed…
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…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
In this review we present hyper-dual numbers as a tool for the automatic differentiation of computer programs via operator overloading. We start with a motivational introduction into the ideas of algorithmic differentiation. Then we…
When training large models, such as neural networks, the full derivatives of order 2 and beyond are usually inaccessible, due to their computational cost. Therefore, among the second-order optimization methods, it is common to bypass the…
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the…
Model-based control for robots has increasingly been dependent on optimization-based methods like Differential Dynamic Programming and iterative LQR (iLQR). These methods can form the basis of Model-Predictive Control (MPC), which is…
This paper presents a novel framework for Jacobian computation in motion optimization problems involving multi-link systems, where physical quantities are represented using higher-order time derivatives. In motion optimization of robots and…
This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based…
We present a framework of elastic locomotion, which allows users to enliven an elastic body to produce interesting locomotion by prescribing its high-level kinematics. We formulate this problem as an inverse simulation problem and seek the…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…