相关论文: Temporally Coupled Dynamical Movement Primitives i…
This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturbances, and the control problem is posed as a min-max optimal…
Robotic tasks often require multiple manipulators to enhance task efficiency and speed, but this increases complexity in terms of collaboration, collision avoidance, and the expanded state-action space. To address these challenges, we…
In distributed computing by mobile robots, robots are deployed over a region, continuous or discrete, operating through a sequence of \textit{look-compute-move} cycles. An extensive study has been carried out to understand the computational…
We demonstrate the real-time detection of dynamical phase transitions (DPTs) in lattice-confined spinor gases subject to a priori unknown time-variant interactions, via the temporal behaviors of both the system energy and spinor phases…
Imitation learning has been studied widely as a convenient way to transfer human skills to robots. This learning approach is aimed at extracting relevant motion patterns from human demonstrations and subsequently applying these patterns to…
This paper proposes a novel quaternion-based approach for tracking the translation (position and linear velocity) and rotation (attitude and angular velocity) trajectories of underactuated Unmanned Aerial Vehicles (UAVs). Quadrotor UAVs are…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Although end-to-end robot learning has shown some success for robot manipulation, the learned policies are often not sufficiently robust to variations in object pose or geometry. To improve the policy generalization, we introduce…
One major objective of controlling classical chaotic dynamical systems is exploiting the system's extreme sensitivity to initial conditions in order to arrive at a predetermined target state. In a recent letter [Phys.~Rev.~Lett. 130, 020201…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group $SE_2(3)$. A reference trajectory to a target is calculated using a quartic guidance law, leveraging the…
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…
Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges,…
On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools for developing and testing space technology. This paper…
Despite a slow neuromuscular system, humans easily outperform modern robot technology, especially in physical contact tasks. How is this possible? Biological evidence indicates that motor control of biological systems is achieved by a…
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…
This paper presents an experimental study on the application of quaternions in several machine learning algorithms. Quaternion is a mathematical representation of rotation in three-dimensional space, which can be used to represent complex…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…