225 citations · 660 across the 34 of their papers we have counts for
4 papers · 1 filter
Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems
Xian Zhou, Puttichai Lertkultanon, Quang-Cuong Pham
Closed kinematic chains are created whenever multiple robot arms concurrently manipulate a single object. The closed-chain constraint, when coupled with robot joint limits, dramati…
On the Structure of the Time-Optimal Path Parameterization Problem with Third-Order Constraints
Hung Pham, Quang-Cuong Pham
Finding the Time-Optimal Parameterization of a Path (TOPP) subject to second-order constraints (e.g. acceleration, torque, contact stability, etc.) is an important and well-studied…
When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC
Stéphane Caron, Quang-Cuong Pham
We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature…
Robotic manipulation of a rotating chain
Hung Pham, Quang-Cuong Pham
This paper considers the problem of manipulating a uniformly rotating chain: the chain is rotated at a constant angular speed around a fixed axis using a robotic manipulator. Manip…