5 citations · 5 across the 6 of their papers we have counts for
6 papers
GASP: GPU-Accelerated Safe Planner for Real-Time Collision-Aware Motion Generation with Latent Trajectory Sampling
Colin Merk, Stefanos Charalambous, Peter Dürr +1
We present GASP, a GPU-Accelerated Safe Planner for real-time, collision-aware joint-space motion generation in known environments. GASP combines a clamped B-spline trajectory para…
Hardware Design for Table Tennis Robot Capable of Beating Professional Players
Nobuhiko Mukai, Pavel Adodin, Stefan Heusser +6
This paper focuses on the hardware specifications required for a table tennis robot to beat professional players. After analyzing the motions of elite players, we defined target sp…
Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation
Xiao Gao, Kunpeng Yao, Farshad Khadivar +1
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers…
Using an Improved Output Feedback MPC Approach for Developing a Haptic Virtual Training System
Soroush Sadeghnejad, Farshad Khadivar, Mojtaba Esfandiari +4
Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each…
A Virtual-Based Haptic Endoscopic Sinus Surgery (ESS) Training System: from Development to Validation
Soroush Sadeghnejad, Mojtaba Esfandiari, Farshad Khadivar
Simulated training platforms offer a suitable avenue for surgical students and professionals to build and improve upon their skills, without the hassle of traditional training meth…
An Improved Approach for Output Feedback Model Predictive Control of Hybrid Systems
Soroush Sadeghnejad, Farshad Khadivar, Mojtaba Esfandiari +4
In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new…