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cs.RO2025
Optimal Control and Structurally-Informed Gradient Optimization of a Custom 4-DOF Rigid-Body Manipulator
Brock Marcinczyk, Logan E. Beaver
This work develops a control-centric framework for a custom 4-DOF rigid-body manipulator by coupling a reduced-order Pontryagin's Maximum Principle (PMP) controller with a physics-…
cs.RO2025
Trajectory Tracking with Reachability-Guided Quadratic Programming and Freeze-Resume
Hossein Gholampour, Logan E. Beaver
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can…
cs.RO2025
Mass-Adaptive Admittance Control for Robotic Manipulators
Hossein Gholampour, Jonathon E. Slightam, Logan E. Beaver
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this…