5 papers · 1 filter
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…
Optimal Control and Structurally-Informed Gradient Optimization of a Custom 4-DOF Rigid-Body Manipulator
Brock Marcinczyk, Logan E. Beaver
This work develops a control-centric framework for a custom 4-DOF rigid-body manipulator by coupling a reduced-order Pontryagin's Maximum Principle (PMP) controller with a physics-…
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…
Multi-Robot Task Allocation using Global Games with Negative Feedback: The Colony Maintenance Problem
Logan E. Beaver
In this article we address the multi-robot task allocation problem, where robots must cooperatively assign themselves to accomplish a set of tasks. We consider the colony maintenan…