相关论文: Structured Jacobian Construction for Motion Optimi…

We present two improvements to arithmetic in the Jacobian of global function fields based on the approach of Hess. The first reduces the number of expensive reduction steps by optimizing for typical inputs rather than worst-case behavior,…

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…

Apart from solving complicated problems that require a certain level of intelligence, fine-tuned deep neural networks can also create fast algorithms for slow, numerical tasks. In this paper, we introduce an improved version of [1]'s work,…

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…

An effective numerical method is presented for optimizing model parameters that can be applied to any type of system of non-linear equations and any number of data-points, which does not require explicit formulation of the objective…

Solving complex optimization problems in engineering and the physical sciences requires repetitive computation of multi-dimensional function derivatives. Commonly, this requires computationally-demanding numerical differentiation such as…

This paper presents a study of the Koopman operator theory and its application to optimal control of a multi-robot system. The Koopman operator, while operating on a set of observation functions of the state vector of a nonlinear system,…

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…

Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to…

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 introduce Temporal Residual Jacobians as a novel representation to enable data-driven motion transfer. Our approach does not assume access to any rigging or intermediate shape keyframes, produces geometrically and temporally consistent…

We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…

The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization…

In this article, we present an extension of the formulation recently developed by the authors (A Framework for Data-Driven Computational Mechanics Based on Nonlinear Optimization, arXiv:1910.12736 [math.NA]) to the structural dynamics…

The dynamic complexity of robots and mechatronic systems often pertains to the hybrid nature of dynamics, where governing equations consist of heterogenous equations that are switched depending on the state of the system. Legged robots and…

Recent works in deep learning have shown that integrating differentiable physics simulators into the training process can greatly improve the quality of results. Although this combination represents a more complex optimization task than…

Based on the recent development of Jacobian-free Lax-Wendroff (LW) approaches for solving hyperbolic conservation laws [Zorio, Baeza and Mulet, Journal of Scientific Computing 71:246-273, 2017], [Carrillo and Par\'es, Journal of Scientific…

Optimal control in general, and flatness-based control in particular, of robotic arms necessitate to compute the first and second time derivatives of the joint torques/forces required to achieve a desired motion. In view of the required…

We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…