25 citations · 64 across the 7 of their papers we have counts for
7 papers
Optimization of Workload Mapping and Scheduling in Scaling Heterogeneous HPC Systems: A Systematic Literature Review
Aasish Kumar Sharma, Julian Kunkel
The increasing heterogeneity of High-Performance Computing (HPC) systems, incorporating Central Processing Units (CPUs), Graphics Processing Units (GPUs), Field-Programmable Gate A…
Impact-Aware Multi-Contact Balance Criteria
Yuquan Wang, Arnaud Tanguy, Abderrahmane Kheddar
Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intent…
A Manipulator-Assisted Multiple UAV Landing System for USV Subject to Disturbance
Ruoyu Xu, Chongfeng Liu, Zhongzhong Cao +2
Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversize…
Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential to enforce controller feasibility and hardware integrity. We observe a considerable…
On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailo…
Impact-Aware Task-Space Quadratic-Programming Control
Yuquan Wang, Niels Dehio, Arnaud Tanguy +1
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversibl…
Impact-aware humanoid robot motion generation with a quadratic optimization controller
Yuquan Wang, Arnaud Tanguy, Pierre Gergondet +1
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically o…