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cs.RO2024
Quaternion Sliding Variables in Manipulator Control
Brett T. Lopez, Jean-Jacques Slotine
We present two quaternion-based sliding variables for controlling the orientation of a manipulator's end-effector. Both sliding variables are free of singularities and represent gl…
cs.RO2024
Passive Obstacle Aware Control to Follow Desired Velocities
Lukas Huber, Thibaud Trinca, Jean-Jacques Slotine +1
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obt…