12 citations · 99 across the 48 of their papers we have counts for
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Full-Dynamics Real-Time Nonlinear Model Predictive Control of Heavy-Duty Hydraulic Manipulator for Trajectory Tracking Tasks
Alvaro Paz, Mahdi Hejrati, Pauli Mustalahti +1
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring…
Real-Time Nonlinear Model Predictive Control of Heavy-Duty Skid-Steered Mobile Platform for Trajectory Tracking Tasks
Alvaro Paz, Pauli Mustalahti, Mohammad Dastranj +1
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time perform…
AI-Enhanced Kinematic Modeling of Flexible Manipulators Using Multi-IMU Sensor Fusion
Amir Hossein Barjini, Jouni Mattila
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMU…
Synthesis of Deep Neural Networks with Safe Robust Adaptive Control for Reliable Operation of Wheeled Mobile Robots
Mehdi Heydari Shahna, Jouni Mattila
Deep neural networks (DNNs) can enable precise control while maintaining low computational costs by circumventing the need for dynamic modeling. However, the deployment of such bla…
Immersive Teleoperation of Beyond-Human-Scale Robotic Manipulators: Challenges and Future Directions
Mahdi Hejrati, Jouni Mattila
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gai…
Surrogate-Enhanced Modeling and Adaptive Modular Control of All-Electric Heavy-Duty Robotic Manipulators
Amir Hossein Barjini, Mohammad Bahari, Mahdi Hejrati +1
This paper presents a unified system-level modeling and control framework for an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EM…