7 citations · 7 across the 3 of their papers we have counts for
3 papers
Iterative Learning Control with Mismatch Compensation for Residual Vibration Suppression in Delta Robots
Mingkun Wu, Alisa Rupenyan, Burkhard Corves
Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve…
Singularity-Avoidance Control of Robotic Systems with Model Mismatch and Actuator Constraints
Mingkun Wu, Alisa Rupenyan, Burkhard Corves
Singularities, manifesting as special configuration states, deteriorate robot performance and may even lead to a loss of control over the system. This paper addresses the kinematic…
Meta-Learning Priors for Safe Bayesian Optimization
Jonas Rothfuss, Christopher Koenig, Alisa Rupenyan +1
In robotics, optimizing controller parameters under safety constraints is an important challenge. Safe Bayesian optimization (BO) quantifies uncertainty in the objective and constr…