4 papers
Progressive Barrier Lyapunov Functions for Nonlinear Constrained Control Systems
Hamed Rahimi Nohooji, Holger Voos
This paper introduces the Progressive Barrier Lyapunov Function (p-BLF) for output- and full-state-constrained nonlinear control systems. Unlike traditional BLF methods, where cont…
Hierarchical Performance-Based Design Optimization Framework for Soft Grippers
Hamed Rahimi Nohooji, Holger Voos
This paper presents a hierarchical, performance-based framework for the design optimization of multi-fingered soft grippers. To address the need for systematically defined performa…
Reinforcement Learning-Based Neuroadaptive Control of Robotic Manipulators under Deferred Constraints
Hamed Rahimi Nohooji, Abolfazl Zaraki, Holger Voos
This paper presents a reinforcement learning-based neuroadaptive control framework for robotic manipulators operating under deferred constraints. The proposed approach improves tra…
Adaptive Trajectory Optimization for Task-Specific Human-Robot Collaboration
Hamed Rahimi Nohooji, Holger Voos
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike c…