Suchergebnisse - Robust/Adaptive Control of Robotic Systems~

RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control von 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 …”
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Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies von 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 …”
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A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems von 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 von Khadivar, Farshad, Billard, Aude

“… We present a control strategy based on coupled dynamical systems (DSs), whereby the fingers move in synchronization …”
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Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control von 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 …”
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The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly von 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 von 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 …”
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Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators von Nicolis, Davide, Allevi, Fabio, Rocco, Paolo

“… This article presents a novel robust centralized controller for impedance control and reference tracking of redundant manipulators …”
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Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty von Belvedere, Tommaso, Cognetti, Marco, Oriolo, Giuseppe, Giordano, Paolo Robuffo

“… This article introduces a computationally efficient robust model predictive control (MPC …”
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Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight von 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 …”
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LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops von 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 …”
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Data-Driven Robust Barrier Functions for Safe, Long-Term Operation von 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 …”
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Robust Convex Model Predictive Control for Quadruped Locomotion Under Uncertainties von Xu, Shaohang, Zhu, Lijun, Zhang, Hai-Tao, Ho, Chin Pang

“… This article considers quadruped locomotion control in the presence of uncertainties …”
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Adaptive Asynchronous Control Using Meta-Learned Neural Ordinary Differential Equations von 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 …”
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Optimal Stochastic Vehicle Path Planning Using Covariance Steering von Okamoto, Kazuhide, Tsiotras, Panagiotis

“… This letter addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, a fundamental robotics problem …”
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Tube Acceleration: Robust Dexterous Throwing Against Release Uncertainty von 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 …”
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Regret-Based Sampling of Pareto Fronts for Multiobjective Robot Planning Problems von Botros, Alexander, Wilde, Nils, Sadeghi, Armin, Alonso-Mora, Javier, Smith, Stephen L.

“… Many problems in robotics seek to simultaneously optimize several competing objectives …”
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An Everting Inflatable Fabric Manipulator (EIFM) Designed for Apple Picking von Dorosh, Ryan, Allen, Justin, Ninatanta, Christopher, Whiting, Matthew D., Luo, Jiecai, Yoshida, Kyle, Karkee, Manoj, Luo, Ming

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EMG-Based Model Predictive Control for Physical Human–Robot Interaction: Application for Assist-As-Needed Control von 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 …”
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Stable Open Loop Control of Soft Robotic Manipulators von Thuruthel, Thomas George, Falotico, Egidio, Manti, Mariangela, Laschi, Cecilia

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