Search Results - Robust/Adaptive Control of Robotic Systems

RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control by 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…”
Get full text

Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies by Culbertson, Preston, Slotine, Jean-Jacques, Schwager, Mac

“… to estimate the state of their centroid. To solve this problem, we propose a decentralized adaptive control scheme wherein each agent maintains and adapts its own estimate of the object parameters in order to track a reference…”
Get full text

A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems by 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…”
Get full text

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics by Khadivar, Farshad, Billard, Aude

“… We present a control strategy based on coupled dynamical systems (DSs), whereby the fingers move in synchronization…”
Get full text

Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control by 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 predictive control (MPC…”
Get full text

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly by 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…”
Get full text

Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach by 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 practitioners over the past two decades due…”
Get full text

Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators by Nicolis, Davide, Allevi, Fabio, Rocco, Paolo

“…This article presents a novel robust centralized controller for impedance control and reference tracking of redundant manipulators…”
Get full text

Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight by Faessler, Matthias, Falanga, Davide, Scaramuzza, Davide

“… In this paper, we present a novel body-rate controller and an iterative thrust-mixing scheme, which improve the trajectory-tracking performance without requiring learning and reduce the yaw control…”
Get full text

Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty by Belvedere, Tommaso, Cognetti, Marco, Oriolo, Giuseppe, Giordano, Paolo Robuffo

“…This article introduces a computationally efficient robust model predictive control (MPC…”
Get full text

LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops by Klemm, Victor, Morra, Alessandro, Gulich, Lionel, Mannhart, Dominik, Rohr, David, Kamel, Mina, de Viragh, Yvain, Siegwart, Roland

“… . We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems…”
Get full text

Data-Driven Robust Barrier Functions for Safe, Long-Term Operation by Emam, Yousef, Glotfelter, Paul, Wilson, Sean, Notomista, Gennaro, Egerstedt, Magnus

“… and disturbance representations. Toward this end, this article introduces a controller-synthesis approach to constraint satisfaction for disturbed control-affine dynamical systems by utilizing control barrier…”
Get full text

Robust Convex Model Predictive Control for Quadruped Locomotion Under Uncertainties by Xu, Shaohang, Zhu, Lijun, Zhang, Hai-Tao, Ho, Chin Pang

“…This article considers quadruped locomotion control in the presence of uncertainties…”
Get full text

Adaptive Asynchronous Control Using Meta-Learned Neural Ordinary Differential Equations by 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 settings…”
Get full text

Optimal Stochastic Vehicle Path Planning Using Covariance Steering by Okamoto, Kazuhide, Tsiotras, Panagiotis

“…This letter addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, a fundamental robotics problem…”
Get full text

Tube Acceleration: Robust Dexterous Throwing Against Release Uncertainty by 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 inaccurate and nonrepeatable throws…”
Get full text

Regret-Based Sampling of Pareto Fronts for Multiobjective Robot Planning Problems by Botros, Alexander, Wilde, Nils, Sadeghi, Armin, Alonso-Mora, Javier, Smith, Stephen L.

“…Many problems in robotics seek to simultaneously optimize several competing objectives…”
Get full text

An Everting Inflatable Fabric Manipulator (EIFM) Designed for Apple Picking by Dorosh, Ryan, Allen, Justin, Ninatanta, Christopher, Whiting, Matthew D., Luo, Jiecai, Yoshida, Kyle, Karkee, Manoj, Luo, Ming

Get full text

EMG-Based Model Predictive Control for Physical Human–Robot Interaction: Application for Assist-As-Needed Control by 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 a novel assist-as-needed (AAN…”
Get full text

Stable Open Loop Control of Soft Robotic Manipulators by Thuruthel, Thomas George, Falotico, Egidio, Manti, Mariangela, Laschi, Cecilia

“…Dynamic control of soft robotic manipulators is a challenging field still in its nascent stages…”
Get full text