Related papers: Impedance Space Method: Time-Independent Parametri…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators. The key idea is to perform a parametrization of the…
The paper describes a novel method of sampled-data in space (spatial variable) control of scalar semilinear systems of parabolic and hyperbolic type with unknown parameters and distributed disturbances. A finite set of sampled-data in the…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
The paper establishes a methodology to overcome the difficulty of dynamic frame alignment and system separation in impedance modeling of ac grids, and thereby enables impedance-based whole-system modeling of generator-converter composite…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Learning sensorimotor control policies from high-dimensional images crucially relies on the quality of the underlying visual representations. Prior works show that structured latent space such as visual keypoints often outperforms…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
The light damping hypothesis is usually assumed in structural dynamics since dissipative forces are in general weak with respect to inertial and elastic forces. In this paper a novel numerical method of time integration based on the…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…