Výsledky vyhľadávania - "Robust/Adaptive Control of Robotic Systems"

RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control Autor Gangapurwala, Siddhant, Geisert, Mathieu, Orsolino, Romeo, Fallon, Maurice, Havoutis, Ioannis

“…We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize…”
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Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies Autor Culbertson, Preston, Slotine, Jean-Jacques, Schwager, Mac

“…In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in <inline-formula><tex-math…”
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A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems Autor Notomista, Gennaro, Mayya, Siddharth, Emam, Yousef, Kroninger, Christopher, Bohannon, Addison, Hutchinson, Seth, Egerstedt, Magnus

“…In the context of heterogeneous multirobot teams deployed for executing multiple tasks, this article develops an energy-aware framework for allocating tasks to…”
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Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics Autor Khadivar, Farshad, Billard, Aude

“…We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is…”
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Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control Autor Nubert, Julian, Kohler, Johannes, Berenz, Vincent, Allgower, Frank, Trimpe, Sebastian

“…Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model…”
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The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly Autor Falanga, Davide, Kleber, Kevin, Mintchev, Stefano, Floreano, Dario, Scaramuzza, Davide

“…The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for…”
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Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach Autor Hu, Junyan, Bhowmick, Parijat, Arvin, Farshad, Lanzon, Alexander, Lennox, Barry

“…Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control…”
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Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators Autor Nicolis, Davide, Allevi, Fabio, Rocco, Paolo

“…This article presents a novel robust centralized controller for impedance control and reference tracking of redundant manipulators. The proposed approach takes…”
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Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight Autor Faessler, Matthias, Falanga, Davide, Scaramuzza, Davide

“…Quadrotors are well suited for executing fast maneuvers with high accelerations but they are still unable to follow a fast trajectory with centimeter accuracy…”
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Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty Autor Belvedere, Tommaso, Cognetti, Marco, Oriolo, Giuseppe, Giordano, Paolo Robuffo

“…This article introduces a computationally efficient robust model predictive control (MPC) scheme for controlling nonlinear systems affected by parametric…”
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Data-Driven Robust Barrier Functions for Safe, Long-Term Operation Autor Emam, Yousef, Glotfelter, Paul, Wilson, Sean, Notomista, Gennaro, Egerstedt, Magnus

“…Applications that require multirobot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of…”
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LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops Autor Klemm, Victor, Morra, Alessandro, Gulich, Lionel, Mannhart, Dominik, Rohr, David, Kamel, Mina, de Viragh, Yvain, Siegwart, Roland

“…We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento . We derive closed-form…”
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Robust Convex Model Predictive Control for Quadruped Locomotion Under Uncertainties Autor Xu, Shaohang, Zhu, Lijun, Zhang, Hai-Tao, Ho, Chin Pang

“…This article considers quadruped locomotion control in the presence of uncertainties. Two types of structured uncertainties are considered, namely, uncertain…”
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Tube Acceleration: Robust Dexterous Throwing Against Release Uncertainty Autor Liu, Yang, Billard, Aude

“…In robotic throwing, the release phase involves complex dynamic interactions due to object deformation and limited gripper opening speed, often resulting in…”
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An Everting Inflatable Fabric Manipulator (EIFM) Designed for Apple Picking Autor Dorosh, Ryan, Allen, Justin, Ninatanta, Christopher, Whiting, Matthew D., Luo, Jiecai, Yoshida, Kyle, Karkee, Manoj, Luo, Ming

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Adaptive Asynchronous Control Using Meta-Learned Neural Ordinary Differential Equations Autor Salehi, Achkan, Ruhl, Steffen, Doncieux, Stephane

“…Model-based reinforcement learning and control have demonstrated great potential in various sequential decision making problem domains, including in robotics…”
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Regret-Based Sampling of Pareto Fronts for Multiobjective Robot Planning Problems Autor Botros, Alexander, Wilde, Nils, Sadeghi, Armin, Alonso-Mora, Javier, Smith, Stephen L.

“…Many problems in robotics seek to simultaneously optimize several competing objectives. A conventional approach is to create a single cost function comprised…”
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Optimal Stochastic Vehicle Path Planning Using Covariance Steering Autor Okamoto, Kazuhide, Tsiotras, Panagiotis

“…This letter addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, a fundamental robotics problem. While several path…”
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EMG-Based Model Predictive Control for Physical Human–Robot Interaction: Application for Assist-As-Needed Control Autor Teramae, Tatsuya, Noda, Tomoyuki, Morimoto, Jun

“…In this letter, we propose an electromyography (EMG)-based optimal control framework to design physical human-robot interaction for rehabilitation and develop…”
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Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion Autor Gangapurwala, Siddhant, Mitchell, Alexander, Havoutis, Ioannis

“…Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for…”
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