2 papers
cs.RO2022
Safety-Critical Manipulation for Collision-Free Food Preparation
Andrew Singletary, William Guffey, Tamas G. Molnar +2
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of q…
math.OC2016
System Identification and Control of Valkyrie through SVA--Based Regressor Computation
Shishir Kolathaya, Benjamin J. Morris, Ryan W. Sinnet +1
This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Coriolis-centri…