3 papers
cs.RO2025
AI-Enhanced Kinematic Modeling of Flexible Manipulators Using Multi-IMU Sensor Fusion
Amir Hossein Barjini, Jouni Mattila
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMU…
cs.RO2025
Surrogate-Enhanced Modeling and Adaptive Modular Control of All-Electric Heavy-Duty Robotic Manipulators
Amir Hossein Barjini, Mohammad Bahari, Mahdi Hejrati +1
This paper presents a unified system-level modeling and control framework for an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EM…
cs.RO2025
Deep Reinforcement Learning-Based Motion Planning and PDE Control for Flexible Manipulators
Amir Hossein Barjini, Seyed Adel Alizadeh Kolagar, Sadeq Yaqubi +1
This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential…