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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…
cs.RO2024
Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts
Jari van Steen, Gijs van den Brandt, Nathan van de Wouw +2
With the aim of further enabling the exploitation of intentional impacts in robotic manipulation, a control framework is presented that directly tackles the challenges posed by tra…