7 citations · 28 across the 8 of their papers we have counts for
5 papers · 1 filter
ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation
Xinyu Jia, Wenxin Wang, Jun Yang +2
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free…
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control
Xinyu Jia, Wenxin Wang, Jun Yang +2
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full…
Enhanced Robust Motion Control based on Unknown System Dynamics Estimator for Robot Manipulators
Xinyu Jia, Jun Yang, Kaixin Lu +2
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulat…
Learning robot inverse dynamics using sparse online Gaussian process with forgetting mechanism
Wei Li, Zhiwen Li, Yiqi Liu +1
Online Gaussian processes (GPs), typically used for learning models from time-series data, are more flexible and robust than offline GPs. Both local and sparse approximations of GP…
Bioinspired composite learning control under discontinuous friction for industrial robots
Yongping Pan, Kai Guo, Tairen Sun +1
Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspir…