793 citations
- ETH ZurichCH5 papers
- Max Planck Institute for Intelligent SystemsDE5 papers
- University of AmsterdamNL5 papers
- University of PittsburghUS5 papers
- Max Planck SocietyDE4 papers
- Deakin UniversityAU3 papers
- École Polytechnique Fédérale de LausanneCH3 papers
- Imperial College LondonGB3 papers
- Intelligent Health (United Kingdom)GB3 papers
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9 papers · 1 filter
Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments
Reza Nazmara, Alap Kshirsagar, Jan Peters +1
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy…
Integration of the TIAGo Robot into Isaac Sim with Mecanum Drive Modeling and Learned S-Curve Velocity Profiles
Vincent Schoenbach, Marvin Wiedemann, Raphael Memmesheimer +2
Efficient physics simulation has significantly accelerated research progress in robotics applications such as grasping and assembly. The advent of GPU-accelerated simulation framew…
Hybrid Many-Objective Optimization in Probabilistic Mission Design for Compliant and Effective UAV Routing
Simon Kohaut, Nikolas Hohmann, Sebastian Brulin +6
Advanced Aerial Mobility encompasses many outstanding applications that promise to revolutionize modern logistics and pave the way for various public services and industry uses. Ho…
Control-Tree Optimization: an approach to MPC under discrete Partial Observability
Camille Phiquepal, Marc Toussaint
This paper presents a new approach to Model Predictive Control for environments where essential, discrete variables are partially observed. Under this assumption, the belief state…
Learning robust perceptive locomotion for quadrupedal robots in the wild
Takahiro Miki, Joonho Lee, Jemin Hwangbo +3
Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive percep…
Autonomous Bimanual Functional Regrasping of Novel Object Class Instances
Dmytro Pavlichenko, Diego Rodriguez, Christian Lenz +2
In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This…