15 citations · 34 across the 12 of their papers we have counts for
3 papers · 1 filter
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…