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200 result(s) for “Direct/Inverse Dynamics Formulation” Page 2 of 4
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Multi-Modal Interactive Perception in Human Control of Complex Objects
Rashida Nayeem, Salah Bazzi, mohsen sadeghi, Reza Sharif Razavian, Dagmar Sternad
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Robust Output Feedback Controller for a Serial Robotic Manipulator with Unknown Nonlinearities and External Disturbances
Mohammad Al Saaideh, Almuatazbellah Boker, Mohammad Al Janaideh
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On the Use of Torque Measurement in Centroidal State Estimation
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella, Maximilien Naveau, Ludovic Righetti, Maren Bennewitz, Majid Khadiv
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On the Learned Balance Manifold of Underactuated Balance Robots
Feng Han, Jingang Yi
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Data-Driven Optimal Control under Safety Constraints Using Sparse Koopman Approximation
Hongzhe Yu, Joseph Moyalan, Umesh Vaidya, Yongxin Chen
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Globally Defined Dynamic Modelling and Geometric Tracking Controller Design for Aerial Manipulator
Byeongjun Kim, Dongjae Lee, Jeonghyun Byun, H. Jin Kim
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Visibility-Aware Navigation among Movable Obstacles
Jose Muguira Iturralde, Aidan Curtis, Yilun Du, Leslie Kaelbling, Tomas Lozano-Perez
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6D Pose Estimation for Textureless Objects on RGB Frames Using Multi-View Optimization
Jun Yang, Wenjie Xue, Sahar Ghavidel, Steven Lake Waslander
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Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection
Jaehyun Shim, Carlos Mastalli, Thomas Corbères, Steve Tonneau, Vladimir Ivan, Sethu Vijayakumar
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Extremum Seeking-Based Adaptive Sliding Mode Control with Sliding Perturbation Observer for Robot Manipulators
Muhammad Hamza Khan, Min Cheol Lee
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Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interaction
Puze Liu, Kuo Zhang, Davide Tateo, Snehal Jauhri, Zhiyuan Hu, Jan Peters, Georgia Chalvatzaki
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LEARNEST: LEARNing Enhanced Model-based State ESTimation for Robots using Knowledge-based Neural Ordinary Differential Equations
Kong Yao Chee, M. Ani Hsieh
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DDK: A Deep Koopman Approach for Longitudinal and Lateral Control of Autonomous Ground Vehicles
Yongqian Xiao, Xinglong Zhang, Xin Xu, Lu Yang, Junxiang Li
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Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots
John Irvin Alora, Mattia Cenedese, Edward Schmerling, George Haller, Marco Pavone
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A Causal Decoupling Approach to Efficient Planning for Logistics Problems with Stateful Stochastic Demand
Diptanil Chaudhuri, Dylan Shell
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Dual Quaternion Based Dynamic Movement Primitives to Learn Industrial Tasks Using Teleoperation
Rohit Chandra, Victor Henri Giraud, Mohammad Alkhatib, Youcef Mezouar
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Multi-Modal Learning and Relaxation of Physical Conflict for an Exoskeleton Robot with Proprioceptive Perception
Xuan Zhang, Yana Shu, Yu Chen, Gong Chen, jing ye, Xiang LI
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Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
Joaquim Ortiz-Haro, Jung-Su Ha, Danny Driess, Erez Karpas, Marc Toussaint
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DifFAR: Differentiable Frequency-Based Disentanglement for Aerial Video Action Recognition
Divya Kothandaraman, Ming C. Lin, Dinesh Manocha
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3DMODT: Attention-Guided Affinities for Joint Detection & Tracking in 3D Point Clouds
Jyoti Kini, Ajmal Mian, Mubarak Shah
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Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive
Milad Shafiee, Guillaume Bellegarda, Auke Ijspeert
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OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
Christopher Edwin Mower, Joao Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles
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Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications
Jeong Hun Lee, Mike Yan Michelis, Robert Kevin Katzschmann, Zachary Manchester
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UDepth: Fast Monocular Depth Estimation for Visually-Guided Underwater Robots
Boxiao Yu, Jiayi Wu, Md Jahidul Islam
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A Consistency-Based Loss for Deep Odometry through Uncertainty Propagation
Hamed Damirchi, Rooholla Khorrambakht, Hamid D. Taghirad, Behzad Moshiri
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RAMP-Net: A Robust Adaptive MPC for Quadrotors Via Physics-Informed Neural Network
Sourav Sanyal, Kaushik Roy
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Dynamic Locomotion of a Quadruped Robot with Active Spine Via Model Predictive Control
Wanyue Li, Zida Zhou, Hui Cheng
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GUTS: Generalized Uncertainty-Aware Thompson Sampling for Multi-Agent Active Search
Nikhil Angad Bakshi, Tejus Gupta, Ramina Ghods, Jeff Schneider
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A Joint Acceleration Estimation Method Based on a High-Order Disturbance Observer
Jiexin Zhang, Pingyun Nie, Yuhang Chen, Bo Zhang
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BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Avadesh Meduri, Paarth Shah, Julian Viereck, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti
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Enhanced Balance for Legged Robots Using Reaction Wheels
Chi-Yen Lee, Shuo Yang, Bokser Benjamin, Zachary Manchester
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Risk-Aware Submodular Optimization for Multi-Robot Coordination
Zhou, Lifeng,Tokekar, Pratap
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Limit Cycle Generation with Pneumatically Driven Physical Reservoir Computing
Hiroaki Shinkawa, Toshihiro Kawase, Tetsuro Miyazaki, Takahiro Kanno, Maina Sogabe, Kenji Kawashima
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Learning Exploration Strategies to Solve Real-World Marble Runs
Alisa Allaire, Christopher Atkeson
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Risk-Aware Model Predictive Path Integral Control Using Conditional Value-At-Risk
Ji Yin, Zhiyuan Zhang, Panagiotis Tsiotras
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Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm
Rudolf Szadkowski, Muhammad Sunny Nazeer, Matteo Cianchetti, Egidio Falotico, Jan Faigl
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Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
Siddhant Gangapurwala, luigi campanaro, Ioannis Havoutis
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Robotic Table Wiping Via Reinforcement Learning and Whole-Body Trajectory Optimization
Thomas Lew, Sumeet Singh, Mario Prats, Jeffrey Bingham, Jonathan Weisz, Benjie Holson, Xiaohan Zhang, Vikas Sindhwani, Yao Lu, Fei Xia, Peng Xu, Tingnan Zhang, Jie Tan, Montserrat Gonzalez Arenas
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Code As Policies: Language Model Programs for Embodied Control
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Peter Florence, Andy Zeng
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Wirelessly-Controlled Untethered Piezoelectric Planar Soft Robot Capable of Bidirectional Crawling and Rotation
Zhiwu Zheng, Hsin Cheng, Prakhar Kumar, Sigurd Wagner, Minjie Chen, Naveen Verma, James Sturm
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Trajectory Optimization for 3D Shape-Changing Robots with Differential Mobile Base
Mengke Zhang, Chao Xu, Fei Gao, Yanjun Cao
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SOPHIE: SOft and Flexible Aerial Vehicle for PHysical Interaction with the Environment
Ruiz Vincueria, Fernando,Arrue, Begoña C.,Ollero, Anibal
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Switching Attention in Time-Varying Environments Via Bayesian Inference of Abstractions
Meghan Booker, Anirudha Majumdar
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Model and Acceleration-Based Pursuit Controller for High Performance Autonomous Racing
Jonathan Becker, Nadine Imholz, Luca Schwarzenbach, Edoardo Ghignone, Nicolas Baumann, Michele Magno
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Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming
Shengzhi Wang, Xiangyu CHU, K. W. Samuel Au
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Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control
Charles Khazoom, Steve Heim, Daniel Gonzalez-Diaz, Sangbae Kim
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A Geometrically-Exact Assumed Strain Modes Approach for the Geometrico and Kinemato-Static Modellings of Continuum Parallel Robots
Briot, Sébastien,Boyer, Frédéric
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Increasing Admittance of Industrial Robots By Velocity Feedback Inner-Loop Shaping
Kangwagye Samuel, Kevin Haninger, Sehoon Oh
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Distributionally Robust Optimization with Unscented Transform for Learning-Based Motion Control in Dynamic Environments
Astghik Hakobyan, Insoon Yang
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Cross-Domain Transfer Learning and State Inference for Soft Robots via a Semi-supervised Sequential Variational Bayes Framework
Shageenderan Sapai, Junn Yong Loo, Ze Yang Ding, Chee Pin Tan, Raphael Phan, Vishnu Monn Baskaran, Surya G. Nurzaman
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