43 citations · 128 across the 28 of their papers we have counts for
30 papers
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang +4
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation task…
Data-Driven Track Following Control for Dual Stage-Actuator Hard Disk Drives
Nikhil Potu Surya Prakash, Joohwan Seo, Alexander Rose +1
In this paper, we present a frequency domain data-driven feedback control design methodology for the design of tracking controllers for hard disk drives with two-stage actuator as…
Geometric Impedance Control on SE(3) for Robotic Manipulators
Joohwan Seo, Nikhil Potu Surya Prakash, Alexander Rose +2
After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While imp…
Data-Driven Strictly Positive Real System Identification with prior System Knowledge
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
Strictly Positive Real (SPR) transfer functions arise in many areas of engineering like passivity theory in circuit analysis and adaptive control to name a few. In many physical sy…
Adaptive Feedforward Reference Design for Active Vibration Rejection in Multi-Actuator Hard Disk Drives
Zhi Chen, Nikhil Potu Surya Prakash, Roberto Horowitz
In December 2017, Seagate unveiled the Multi Actuator Technology to double the data performance of the future generation hard disk drives (HDD). This technology will equip drives w…
System Identification in Multi-Actuator Hard Disk Drives with Colored Noises using Observer/Kalman Filter Identification (OKID) Framework
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
Multi Actuator Technology in Hard Disk drives (HDDs) equips drives with two dual stage actuators (DSA) each comprising of a voice coil motor (VCM) actuator and a piezoelectric micr…