5 papers
Switch-Time-Aware Hybrid Model Predictive Control Using the Hybrid Minimum Principle
Valentin Gaucher, Wenlong Zhang
This article presents a time-aware hybrid model predictive control (MPC) framework that simultaneously optimizes the objective with respect to both continuous control inputs and ev…
Towards Effective Physical Reservoir Computing with a Pneumatic Soft Robot
Jeevan Hebbal Manjunath, Jun Wang, Suyi Li +1
Physical reservoir computing (PRC) refers to the use of a physical dynamical system as a computational resource for tasks such as state estimation and control, but there has been a…
Dual Quaternion Based Contact Modeling for Fast and Smooth Collision Recovery of Quadrotors
Valentin Gaucher, Wenlong Zhang
Unmanned aerial vehicles (UAVs) operating in cluttered environments require efficient and accurate impact modeling to maintain stability post collisions, however classical impulse…
Design, Contact Modeling, and Collision-inclusive Planning of a Dual-stiffness Aerial RoboT (DART)
Yogesh Kumar, Karishma Patnaik, Wenlong Zhang
Collision-resilient quadrotors have gained significant attention given their potential for operating in cluttered environments and leveraging impacts to perform agile maneuvers. Ho…
Proprioceptive and Exteroceptive Information Perception in a Fabric Soft Robotic Arm via Physical Reservoir Computing with minimal training data
Jun Wang, Zhi Qiao, Wenlong Zhang +1
Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environm…