6 citations · 17 across the 10 of their papers we have counts for
4 papers · 1 filter
Language-Driven Closed-Loop Grasping with Model-Predictive Trajectory Replanning
Huy Hoang Nguyen, Minh Nhat Vu, Florian Beck +3
Combining a vision module inside a closed-loop control system for a \emph{seamless movement} of a robot in a manipulation task is challenging due to the inconsistent update rates b…
Model Predictive Trajectory Planning for Human-Robot Handovers
Thies Oelerich, Christian Hartl-Nesic, Andreas Kugi
This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, w…
Model Predictive Trajectory Optimization With Dynamically Changing Waypoints for Serial Manipulators
Florian Beck, Minh Nhat Vu, Christian Hartl-Nesic +1
Systematically including dynamically changing waypoints as desired discrete actions, for instance, resulting from superordinate task planning, has been challenging for online model…
BoundMPC: Cartesian path following with error bounds based on model predictive control in the joint space
Thies Oelerich, Florian Beck, Christian Hartl-Nesic +1
This work introduces the BoundMPC strategy, an innovative online model-predictive path-following approach for robot manipulators. This joint-space trajectory planner allows the fol…