19 citations · 62 across the 14 of their papers we have counts for
3 papers · 1 filter
Dual Arm Impact-Aware Grasping through Time-Invariant Reference Spreading Control
Jari J. van Steen, Abdullah Coşgun, Nathan van de Wouw +1
With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapid…
Robot Control for Simultaneous Impact Tasks through Time-Invariant Reference Spreading
Jari J. van Steen, Nathan van de Wouw, Alessandro Saccon
With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally…
Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics
Martijn Bos, Silvio Traversaro, Daniele Pucci +1
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based…