From the 1 of 14 linked papers with an AI index.
3 citations · 3 across the 5 of their papers we have counts for
3 papers · 1 filter
Combining Movement Primitives with Contraction Theory
Moses C. Nah, Johannes Lachner, Neville Hogan +1
This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamic…
Quaternion Sliding Variables in Manipulator Control
Brett T. Lopez, Jean-Jacques Slotine
We present two quaternion-based sliding variables for controlling the orientation of a manipulator's end-effector. Both sliding variables are free of singularities and represent gl…
Passive Obstacle Aware Control to Follow Desired Velocities
Lukas Huber, Thibaud Trinca, Jean-Jacques Slotine +1
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obt…