9 citations · 23 across the 9 of their papers we have counts for
5 papers · 1 filter
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…