62 citations · 284 across the 28 of their papers we have counts for
4 papers · 1 filter
A Human Action Descriptor Based on Motion Coordination
Pietro Falco, Matteo Saveriano, Eka Gibran Hasany +2
In this paper, we present a descriptor for human whole-body actions based on motion coordination. We exploit the principle, well known in neuromechanics, that humans move their joi…
On Policy Learning Robust to Irreversible Events: An Application to Robotic In-Hand Manipulation
Pietro Falco, Abdallah Attawia, Matteo Saveriano +1
In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach…
Prioritized Inverse Kinematics: Desired Task Trajectories in Nonsingular Task Spaces
Sang-ik An, Dongheui Lee
A prioritized inverse kinematics (PIK) solution can be considered as a (regulation or output tracking) control law of a dynamical system with prioritized multiple outputs. We propo…
Prioritized Inverse Kinematics: Nonsmoothness, Trajectory Existence, Task Convergence, Stability
Sang-ik An, Dongheui Lee
In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (output regulation or track…