14 citations · 18 across the 8 of their papers we have counts for
10 papers
Hierarchical Control Strategy for Moving A Robot Manipulator Between Small Containers
Paolo Torrado, Boling Yang, Joshua Smith
In this paper, we study the implementation of a model predictive controller (MPC) for the task of object manipulation in a highly uncertain environment (e.g., picking objects from…
Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots
Patrick Lancaster, Christoforos Mavrogiannis, Siddhartha Srinivasa +1
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of d…
Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing
Ignat Georgiev, Christoforos Chatzikomis, Timo Völkl +2
Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural n…
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
Oguzhan Cebe, Carlo Tiseo, Guiyang Xin +3
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capabl…
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
Guiyang Xin, Carlo Tiseo, Wouter Wolfslag +5
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control…
Adversarial Generation of Informative Trajectories for Dynamics System Identification
Marija Jegorova, Joshua Smith, Michael Mistry +1
Dynamic System Identification approaches usually heavily rely on the evolutionary and gradient-based optimisation techniques to produce optimal excitation trajectories for determin…