7 citations · 26 across the 23 of their papers we have counts for
4 papers · 1 filter
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Edmundo Pozo Fortunić, Mehmet C. Yildirim, Dennis Ossadnik +3
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA)…
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles
Moritz Eckhoff, Dennis Knobbe, Henning Zwirnmann +2
One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing compl…
Fast yet predictable braking manoeuvers for real-time robot control
Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba +5
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain fe…
Learning optimal controllers: a dynamical motion primitive approach
Hugo T. M. Kussaba, Abdalla Swikir, Fan Wu +3
Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal)…