10 citations · 12 across the 29 of their papers we have counts for
33 papers · 1 filter
IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator
Mehdi Heydari Shahna, Seihun Kim, Soyi Jung +3
Autonomous excavator control is challenged by coupled kinematics, actuation lag, and uncertainty. We propose imitation learning and adaptive Cartesian tracking (IL-ACT), a novel mo…
Modular Kinematic Reduction of Closed-Chain Mechanisms Using Path Assembly and Defect Homotopy
Mohammad Dastranj, Jouni Mattila
Closed kinematic chains complicate modular modeling by coupling active and passive coordinates through nonlinear closure constraints. This paper presents a Path-Assembled Closure D…
Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom
Mehdi Heydari Shahna, Tuomo Kivelä, Jouni Mattila
Long-reach drilling booms must reach successive poses without self-collision. Moving from operator-supervised control toward autonomy requires collision-aware motion planning and e…
Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators
S. Yaqubi, J. Mattila
An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie grou…
Actuator-Aware Inverse Kinematics with Joint-Limit Admissibility for Torque-Controlled Redundant Robots
Mohammad Dastranj, Mahdi Hejrati, Jouni Mattila
This paper proposes actuator-aware inverse kinematics for torque-controlled redundant robots under joint-limit constraints. In the considered architecture, the inverse-kinematic ou…
Modular Lie Algebraic PDE Control of Multibody Flexible Manipulators
Sadeq Yaqubi, Jouni Mattila
This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each li…