7 citations · 13 across the 6 of their papers we have counts for
6 papers
Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
Jaemin Lee, Efstathios Bakolas, Luis Sentis
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics…
Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions
Rachel Schlossman, Minkyu Kim, Ufuk Topcu +1
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired serv…
Thermal Recovery of Multi-Limbed Robots with Electric Actuators
Steven Jens Jorgensen, James Holley, Frank Mathis +2
The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort-…
Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems
Steven Jens Jorgensen, Orion Campbell, Travis Llado +3
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control p…
Web Based Teleoperation of a Humanoid Robot
Chien Liang Fok, Fei Sun, Matt Mangum +3
The Cloud-based Advanced Robotics Laboratory (CARL) integrates a whole body controller and web-based teleoperation to enable any device with a web browser to access and control a h…
Full-Body Collision Detection and Reaction with Omnidirectional Mobile Platforms: A Step Towards Safe Human-Robot Interaction
Kwan Suk Kim, Travis Llado, Luis Sentis
In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body…