15 citations · 34 across the 12 of their papers we have counts for
12 papers
Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators
Joohwan Seo, Nikhil Potu Surya Prakash, Soomi Lee +4
In this paper, we present an impedance control framework on the SE(3) manifold, which enables force tracking while guaranteeing passivity. Building upon the unified force-impedance…
A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Jongeun Choi +1
In this paper, a comparison analysis between geometric impedance controls (GICs) derived from two different potential functions on SE(3) for robotic manipulators is presented. The…
Clustering Techniques for Stable Linear Dynamical Systems with applications to Hard Disk Drives
Nikhil Potu Surya Prakash, Joohwan Seo, Jongeun Choi +1
In Robust Control and Data Driven Robust Control design methodologies, multiple plant transfer functions or a family of transfer functions are considered and a common controller is…
Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning
Junwoo Chang, Hyunwoo Ryu, Jiwoo Kim +5
Diffusion models have risen as a powerful tool in robotics due to their flexibility and multi-modality. While some of these methods effectively address complex problems, they often…
Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang +4
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation task…
Data-Driven Track Following Control for Dual Stage-Actuator Hard Disk Drives
Nikhil Potu Surya Prakash, Joohwan Seo, Alexander Rose +1
In this paper, we present a frequency domain data-driven feedback control design methodology for the design of tracking controllers for hard disk drives with two-stage actuator as…
Geometric Impedance Control on SE(3) for Robotic Manipulators
Joohwan Seo, Nikhil Potu Surya Prakash, Alexander Rose +2
After its introduction, impedance control has been utilized as a primary control scheme for robotic manipulation tasks that involve interaction with unknown environments. While imp…
Adaptive Model Predictive Control of Wheeled Mobile Robots
Nikhil Potu Surya Prakash, Tamara Perreault, Trevor Voth +1
In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC)…
A Computational Approach for Variational Integration of Attitude Dynamics on SO(3)
Nikhil Potu Surya Prakash
In this article, a brief description of Discrete Mechanics and Variational Integrators which preserve the symplectic structure of the flow will be provided and a Newton-Raphson alg…
Data-Driven Strictly Positive Real System Identification with prior System Knowledge
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
Strictly Positive Real (SPR) transfer functions arise in many areas of engineering like passivity theory in circuit analysis and adaptive control to name a few. In many physical sy…
System Identification in Multi-Actuator Hard Disk Drives with Colored Noises using Observer/Kalman Filter Identification (OKID) Framework
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
Multi Actuator Technology in Hard Disk drives (HDDs) equips drives with two dual stage actuators (DSA) each comprising of a voice coil motor (VCM) actuator and a piezoelectric micr…
Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints
Nikhil Potu Surya Prakash
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart…