20 citations · 24 across the 6 of their papers we have counts for
6 papers
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
Maximilian Albracht, Shivesh Kumar, Shubham Vyas +1
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of…
Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control
Lasse Shala, Shubham Vyas, Mohamed Khalil Ben-Larbi +2
Future Active Debris Removal (ADR) and On Orbit Servicing (OOS) missions demand for elaborate closed loop controllers. Feasible control architectures should take into consideration…
Linear Model Predictive Control for a planar free-floating platform: A comparison of binary input constraint formulations
Franek Stark, Shubham Vyas, Georg Schildbach +1
This work develops a first Model Predictive Control for European Space Agencies 3-dof free-floating platform. The challenges of the platform are the on/off thrusters, which cannot…
AcroMonk: A Minimalist Underactuated Brachiating Robot
Mahdi Javadi, Daniel Harnack, Paula Stocco +4
Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is inte…
Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform
Anton Bredenbeck, Shubham Vyas, Martin Zwick +3
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environm…
Finding and Following Optimal Trajectories for an Overactuated Floating Robotic Platform
Anton Bredenbeck, Shubham Vyas, Willem Suter +4
The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties.…