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eess.SY2023
Output-Sampled Model Predictive Path Integral Control (o-MPPI) for Increased Efficiency
Leon, Yan, Santosh Devasia
The success of the model predictive path integral control (MPPI) approach depends on the appropriate selection of the input distribution used for sampling. However, it can be chall…
eess.SY2020
MIMO ILC for Precision SEA robots using Input-weighted Complex-Kernel Regression
Leon Yan, Nathan Banka, Parker Owan +3
This work improves the positioning precision of lightweight robots with series elastic actuators (SEAs). Lightweight SEA robots, along with low-impedance control, can maneuver with…