Related papers: J-PARSE: Jacobian-based Projection Algorithm for R…
Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments.…
We propose novel iterative learning control algorithms to track a reference trajectory in resource-constrained control systems. In many applications, there are constraints on the number of control actions, delivered to the actuator from the…
This contribution presents a robot path-following framework via Reactive Model Predictive Contouring Control (RMPCC) that successfully avoids obstacles, singularities and self-collisions in dynamic environments at 100 Hz. Many…
The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose, plays a vital role in robotics modeling, planning and…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel connections between data-driven and robust, nonlinear control.…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
This paper presents an optimal dynamic control framework for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations affected by both state and process noise. Rather than directly stabilizing the uncertain system,…
We show that, under certain circumstances, it is possible to automatically compute Jacobian-inverse-vector and Jacobian-inverse-transpose-vector products about as efficiently as Jacobian-vector and Jacobian-transpose-vector products. The…
The Johnson--Lindenstrauss (JL) lemma is a powerful tool for dimensionality reduction in modern algorithm design. The lemma states that any set of high-dimensional points in a Euclidean space can be flattened to lower dimensions while…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
This paper presents a novel implicit scheme for the constraint resolution in real-time finite element simulations in the presence of contact and friction. Instead of using the standard motion correction scheme, we propose an iterative…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…
This paper describes a method for scheduling the events of a switched system to achieve an optimal performance. The approach has guarantees on convergence and computational complexity that parallel derivative-based iterative optimization…
Combining a vision module inside a closed-loop control system for a \emph{seamless movement} of a robot in a manipulation task is challenging due to the inconsistent update rates between utilized modules. This task is even more difficult in…
This paper presents a novel approach for controlling humanoid robots to push heavy objects. The approach combines kinodynamics-based pose optimization and loco-manipulation model predictive control (MPC). The proposed pose optimization…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast production constraints. To help address this challenge, we…
Measurement of task progress through explicit, actionable milestones is critical for robust robotic manipulation. This progress awareness enables a model to ground its current task status, anticipate verifiable intermediate states, and…