3 papers
eess.SY2025
Data-Efficient Extremum-Seeking Control Using Kernel-Based Function Approximation
Wouter Weekers, Alessandro Saccon, Nathan van de Wouw
Existing extremum-seeking control (ESC) approaches typically rely on applying repeated perturbations to input parameters and performing measurements of the corresponding performanc…
cs.RO2024
Impact-Aware Control using Time-Invariant Reference Spreading
Jari van Steen, Nathan van de Wouw, Alessandro Saccon
With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage…
cs.RO2024
Impact-Aware Robotic Manipulation: Quantifying the Sim-To-Real Gap for Velocity Jumps
Jari van Steen, Daan Stokbroekx, Nathan van de Wouw +1
Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes a…