4 papers
Wrench-Aware Admittance Control for Unknown-Payload Manipulation
Hossein Gholampour, Logan E. Beaver
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload…
Reachability-Aware Time Scaling for Path Tracking
Hossein Gholampour, Logan E. Beaver
This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampl…
Trajectory Tracking with Reachability-Guided Quadratic Programming and Freeze-Resume
Hossein Gholampour, Logan E. Beaver
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can…
Mass-Adaptive Admittance Control for Robotic Manipulators
Hossein Gholampour, Jonathon E. Slightam, Logan E. Beaver
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this…