8 citations · 14 across the 21 of their papers we have counts for
3 papers · 1 filter
Flatness-based MPC using B-splines transcription with application to a Pusher-Slider System
Thomas Neve, Tom Lefebvre, Sander De Witte +1
This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slid…
A Supervisory Learning Control Framework for Autonomous & Real-time Task Planning for an Underactuated Cooperative Robotic task
Sander De Witte, Tom Lefebvre, Thijs Van Hauwermeiren +1
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to r…
Differential Flatness of Slider-Pusher Systems for Constrained Time Optimal Collision Free Path Planning
Tom Lefebvre, Sander De Witte, Thomas Neve +1
In this work we show that the differential kinematics of slider-pusher systems are differentially flat assuming quasi-static behaviour and frictionless contact. Second we demonstra…