4 papers
Flexibility-Aware Robotic Manipulation: Deformation Estimation, Kinematics, and Control via Distributed Inertial Measurement
Amir Hossein Barjini, Sadeq Yaqubi, Pauli Mustalahti +1
Flexible robot links challenge the rigid-body assumption, making joint measurements alone insufficient for accurate manipulation. This paper introduces a flexibility-aware manipula…
Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators
S. Yaqubi, J. Mattila, M. Hejrati
An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie grou…
Modular Lie Algebraic PDE Control of Multibody Flexible Manipulators
Sadeq Yaqubi, Jouni Mattila
This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each li…
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…