9 citations · 23 across the 9 of their papers we have counts for
9 papers
From Instantaneous to Predictive Control: A More Intuitive and Tunable MPC Formulation for Robot Manipulators
Johan Ubbink, Ruan Viljoen, Erwin Aertbeliën +2
Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. H…
BILTS: A Bi-Invariant Similarity Measure for Robust Object Trajectory Recognition under Reference Frame Variations
Arno Verduyn, Erwin Aertbeliën, Glenn Maes +2
When similar object motions are performed in diverse contexts but are meant to be recognized under a single classification, these contextual variations act as disturbances that neg…
Automatic Derivation of an Optimal Task Frame for Learning and Controlling Contact-Rich Tasks
Ali Mousavi Mohammadi, Maxim Vochten, Erwin Aertbeliën +1
In previous work on learning and controlling contact-rich tasks, the procedure for choosing a proper reference frame to express learned signals for the motion and the interaction w…
Enhancing motion trajectory segmentation of rigid bodies using a novel screw-based trajectory-shape representation
Arno Verduyn, Maxim Vochten, Joris De Schutter
Trajectory segmentation refers to dividing a trajectory into meaningful consecutive sub-trajectories. This paper focuses on trajectory segmentation for 3D rigid-body motions. Most…
Invariant Descriptors of Motion and Force Trajectories for Interpreting Object Manipulation Tasks in Contact
Maxim Vochten, Ali Mousavi Mohammadi, Arno Verduyn +3
Invariant descriptors of point and rigid-body motion trajectories have been proposed in the past as representative task models for motion recognition and generalization. Currently,…
Using Intent Estimation and Decision Theory to Support Lifting Motions with a Quasi-Passive Hip Exoskeleton
Thomas Callens, Vincent Ducastel, Joris De Schutter +1
This paper compares three controllers for quasi-passive exoskeletons. The Utility Maximizing Controller (UMC) uses intent estimation to recognize user motions and decision theory t…
FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control
Lander Vanroye, Ajay Sathya, Joris De Schutter +1
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints e…
A Generalization of the Riccati Recursion for Equality-Constrained Linear Quadratic Optimal Control
Lander Vanroye, Joris De Schutter, Wilm Decré
This paper introduces a generalization of the well-known Riccati recursion for solving the discrete-time equality-constrained linear quadratic optimal control problem. The recursio…
A Rigorously Bayesian Beam Model and an Adaptive Full Scan Model for Range Finders in Dynamic Environments
Tinne De Laet, Joris De Schutter, Herman Bruyninckx
This paper proposes and experimentally validates a Bayesian network model of a range finder adapted to dynamic environments. All modeling assumptions are rigorously explained, and…