5 citations · 14 across the 14 of their papers we have counts for
14 papers
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka +1
In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained significant attention due to their ability to generate real-time motions and reach predefined…
Geometric Slosh-Free Tracking for Robotic Manipulators
Jon Arrizabalaga, Lukas Pries, Riddhiman Laha +3
This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific…
Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC
Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo +1
This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in…
Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints
Kejia Chen, Zhenshan Bing, Yansong Wu +4
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust…
ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk
Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin
While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phas…
Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk
Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin
Template models are frequently used to simplify the control dynamics for robot hopping or running. Passive limit cycles can emerge for such systems and be exploited for energy-effi…