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cs.RO2026
Payload generalization on feedforward control actions for trajectory tracking in robots with rigid and elastic joints
Giorgia Pazzi, Giorgio Simonini, Michele Pierallini +4
Industries employ robots for repetitive tasks due to their high precision and performance, typically achieved through feedforward control actions based on an accurate robot descrip…
cs.RO2026
Reinforced Iterative Learning Control for elastic joint arms: Guaranteed cross-trajectory generalization under model uncertainties
Yuri De Santis, Michele Pierallini, Franco Angelini +1
Trajectory tracking for compliant robots is challenging due to nonlinear dynamics and modeling uncertainties, often requiring learning-based methods to avoid explicit parameter ide…