3 papers
cs.RO2026
Simultaneous Force and Motion Control in Generalised Coordinates
Jon Woolfrey
Robot manipulators often come into contact with rigid objects when performing work. This imposes physical constraints on their motion. Simultaneous force & motion control was devel…
cs.RO2026
MR-MPCC: Model Predictive Contouring Control for Robotic Manipulator Tracking under Moving Reference Frames
Chonghao Cheng, Tiancheng Li, Jonathan Woolfrey +2
Maintaining small path-tracking errors under moving reference frames is essential for robotic manipulation tasks with tight execution tolerances, such as machining and surgical aut…
cs.RO2021
Towards a Pantograph-based Interventional AUV for Under-ice Measurement
Hongkyoon Byun, Jonghyuk Kim, Dikai Liu +1
This paper addresses the design of a novel interventional robotic platform, aiming to perform an autonomous sampling and measurement under the thin ice in the Antarctic environment…