48 citations · 103 across the 7 of their papers we have counts for
7 papers
Fast yet predictable braking manoeuvers for real-time robot control
Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba +5
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain fe…
Learning optimal controllers: a dynamical motion primitive approach
Hugo T. M. Kussaba, Abdalla Swikir, Fan Wu +3
Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal)…
BSA -- Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu +4
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the e…
A Robust Unscented Transformation for Uncertain Moments
Hugo T. M. Kussaba, João Y. Ishihara, Leonardo R. A. X. Menezes
This paper proposes a robust version of the unscented transform (UT) for one-dimensional random variables. It is assumed that the moments are not exactly known, but are known to li…
Unscented Kalman Filters for Riemannian State-Space Systems
Henrique M. T. Menegaz, João Y. Ishihara, Hugo T. M. Kussaba
Unscented Kalman Filters (UKFs) have become popular in the research community. Most UKFs work only with Euclidean systems, but in many scenarios it is advantageous to consider syst…
Existence of Continuous or Constant Finsler's Variables for Parameter-Dependent Systems
João Y. Ishihara, Hugo T. M. Kussaba, Renato A. Borges
Finsler's lemma is a classic mathematical result with applications in control and optimization. When the lemma is applied to parameter-dependent LMIs, as such those that arise from…
Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions
Hugo T. M. Kussaba, Luis F. C. Figueredo, João Y. Ishihara +1
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hys…