Related papers: COMPAct: Computational Optimization and Automated …
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possible modification of suitable joint-space trajectories, since…
The Space-Air-Ground Integrated Network (SAGIN) framework is a crucial foundation for future networks, where satellites and aerial nodes assist in computational task offloading. The low-altitude economy, leveraging the flexibility and…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
Bio-inspired soft robots have already shown the ability to handle uncertainty and adapt to unstructured environments. However, their availability is partially restricted by time-consuming, costly and highly supervised design-fabrication…
Although significant progress has been made in many tasks within the field of Natural Language Processing (NLP), Controlled Text Generation (CTG) continues to face numerous challenges, particularly in achieving fine-grained conditional…
This paper presents a design and automation environment to study the control trajectory for new CDPR architectures, for instance CDPRs with an unusual number of cables or different motor location in the robot frame. In order to test the…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…
Transformer uses GPU as the initial design platform, but GPU can only perform limited hardware customization. Although FPGA has strong customization ability, the design solution space is huge and the design difficulty is high. Versal ACAP…
Underwater robots are widely deployed for ocean exploration and manipulation. Underactuated mechanisms are particularly advantageous in aquatic environments, as reducing actuator count lowers the risk of motor leakage while introducing…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Pre-implementation behavioural simulation routinely validates functional correctness, yet it also produces rich switching-activity traces that are typically discarded by FPGA computer-aided design (CAD) flows. Prior simulation-guided and…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
Generalizability and stability are two key objectives for operating reinforcement learning (RL) agents in the real world. Designing RL algorithms that optimize these objectives can be a costly and painstaking process. This paper presents…
This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle, lightweight robotic systems can be made fast and strong;…
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using only a single rotational actuator, which is very useful in…
This article introduces an approach to facilitate cooperative exploration and mapping of large-scale, near-ground, underground, or indoor spaces via a novel integration framework for locally-dense agent map data. The effort targets limited…