3 papers
cs.RO2025
Reinforcement Learning-Based Neuroadaptive Control of Robotic Manipulators under Deferred Constraints
Hamed Rahimi Nohooji, Abolfazl Zaraki, Holger Voos
This paper presents a reinforcement learning-based neuroadaptive control framework for robotic manipulators operating under deferred constraints. The proposed approach improves tra…
cs.RO2024
Hierarchical Performance-Based Design Optimization Framework for Soft Grippers
Hamed Rahimi Nohooji, Holger Voos
This paper presents a hierarchical, performance-based framework for the design optimization of multi-fingered soft grippers. To address the need for systematically defined performa…
eess.SY2024
Progressive Barrier Lyapunov Functions for Nonlinear Constrained Control Systems
Hamed Rahimi Nohooji, Holger Voos
This paper introduces the Progressive Barrier Lyapunov Function (p-BLF) for output- and full-state-constrained nonlinear control systems. Unlike traditional BLF methods, where cont…