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…
Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
Guiyang Xin, Joshua Smith, David Rytz +3
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typica…
Fractal Impedance for Passive Controllers: A Framework for Interaction Robotics
Keyhan Kouhkiloui Babarahmati, Carlo Tiseo, Joshua Smith +3
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant impro…
Online Simultaneous Semi-Parametric Dynamics Model Learning
Joshua Smith, Michael Mistry
Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based…
A Projected Inverse Dynamics Approach for Dual-arm Cartesian Impedance Control
Hsiu-Chin Lin, Joshua Smith, Keyhan Kouhkiloui Babarahmati +2
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected in…