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261 result(s) for “Direct/Inverse Dynamics Formulation” Page 1 of 6
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Efficient Constrained Dynamics Algorithms Based on an Equivalent LQR Formulation Using Gauss' Principle of Least Constraint
Ajay Suresha Sathya, Herman Bruyninckx, Wilm Decré, Goele Pipeleers
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Trajectory Tracking Runtime Assurance for Systems with Partially Unknown Dynamics
Michael Enqi Cao, Samuel Coogan
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Reinforcement Learning with Energy-Exchange Dynamics for Spring-Loaded Biped Robot Walking
Cheng-Yu Kuo, Hirofumi Shin, Takamitsu Matsubara
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Risk-Averse Trajectory Optimization Via Sample Average Approximation
Thomas Lew, Riccardo Bonalli, Marco Pavone
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Robotic Contact Juggling
James Woodruff, Kevin Lynch
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MTG: Mapless Trajectory Generator with Traversability Coverage for Outdoor Navigation
Jing Liang, Peng Gao, Xuesu Xiao, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Ming C. Lin, Dinesh Manocha
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A Convex Formulation of Frictional Contact between Rigid and Deformable Bodies
Xuchen Han, Joseph Masterjohn, Alejandro Castro
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Robust Feedback Quadratic Programming for Kinematic-Controlled Robots
Mohamed Djeha, Pierre Gergondet, Abderrahmane Kheddar
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Gaussian Mixture Likelihood-Based Adaptive MPC for Interactive Mobile Manipulators
Dimitrios Rakovitis, Dennis Mronga
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Unconstrained Model Predictive Control for Robot Navigation under Uncertainty
Senthil Hariharan Arul, Jong Jin Park, Vishnu Prem, Yang Zhang, Dinesh Manocha
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Measurement-Limited Multi-Agent, Relative Pose Estimation for On-Orbit Inspection
Mark Mercier, David Curtis, Clark Taylor
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Learning Nonprehensile Dynamic Manipulation: Sim2real Vision-Based Policy with a Surgical Robot
Radian Gondokaryono, Mustafa Haiderbhai, Sai Aneesh Suryadevara, Lueder Alexander Kahrs
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Fitting Parameters of Linear Dynamical Systems to Regularize Forcing Terms in Dynamical Movement Primitives
Freek Stulp, Adrià Colomé, Carme Torras
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Accounting for Travel Time and Arrival Time Coordination During Task Allocations in Legged-Robot Teams
Shengqiang Chen, Yiyu Chen, Ronak Jain, Xiaopan Zhang, Quan Nguyen, Satyandra K. Gupta
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Efficient Polynomial Sum-Of-Squares Programming for Planar Robotic Arms
Daniel Keren, Amit Shahar, Roi Poranne
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Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra
Tobias Löw, Sylvain Calinon
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Rolling with Planar Parametric Curves for Real-Time Robot Locomotion Algorithms
Adwait Mane, Christian Hubicki
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Symmetry-Aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist
Nguyen Hai, Tadashi Kozuno, Cristian Camilo Beltran-Hernandez, Masashi Hamaya
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Robot Task Planning under Local Observability
Max Merlin, Shane Parr, Neev Parikh, Sergio Orozco, Vedant Gupta, Eric Rosen, George Konidaris
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Efficient Model Learning and Adaptive Tracking Control of Magnetic Micro-Robots for Non-Contact Manipulation
Yongyi Jia, Shu Miao, junjian zhou, Niandong Jiao, Lianqing Liu, Xiang LI
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Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control
Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal, Thai Duong, Nikolay Atanasov
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Improving Out-Of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds
Yating Lin, Glen Chou, Dmitry Berenson
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Learning Model Predictive Control with Error Dynamics Regression for Autonomous Racing
Haoru Xue, Edward Zhu, John M. Dolan, Francesco Borrelli
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Trajectory Optimization Strategy That Considers Body Tip-Over Stability, Limb Dynamics, and Motion Continuity in Legged Robots
Kuan-Lun Lu, I-Chia Chang, Wei-Shun Yu, Pei-Chun Lin
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Learning-Based Model Predictive Control for an Autonomous Formula Student Racing Car
David Gomes, Miguel Botto, Pedro U. Lima
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Utilizing a Malfunctioning 3D Printer by Modeling Its Dynamics with Machine Learning
Renzo Caballero, Piotr Piękos, Eric Feron, Jurgen Schmidhuber
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Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry
Haolong Li, Joerg Stueckler
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Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control
Alessandro Saviolo, Jonathan Frey, Abhishek Rathod, Moritz Diehl, Giuseppe Loianno
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DeformNet: Latent Space Modeling and Dynamics Prediction for Deformable Object Manipulation
Chenchang Li, Zihao Ai, Tong Wu, Xiaosa Li, Wenbo Ding, Huazhe Xu
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Model Predictive Control with Graph Dynamics for Garment Opening Insertion During Robot-Assisted Dressing
Stelios Kotsovolis, Yiannis Demiris
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A Data-Driven Approach to Geometric Modeling of Systems with Low-Bandwidth Actuator Dynamics
Siming Deng, Junning Liu, Bibekananda Datta, Aishwarya Pantula, David H. Gracias, Thao Nguyen, Brian Bittner, Noah J. Cowan
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Pedestrian Trajectory Prediction Using Dynamics-Based Deep Learning
Honghui Wang, Weiming Zhi, Gustavo Batista, Rohitash Chandra
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Task-Oriented Active Learning of Model Preconditions for Inaccurate Dynamics Models
Alex LaGrassa, Moonyoung Lee, Oliver Kroemer
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Physics-Informed Neural Network for Model Prediction and Dynamics Parameter Identification of Collaborative Robot Joints
Xingyu Yang, Yixiong Du, Leihui Li, Zhengxue Zhou, Xuping Zhang
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External Dynamics Dependent Human Gait Adaptation Using a Cable-Driven Exoskeleton
S S Sanjeevi Nakka, Vineet Vashista
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SlotGNN: Unsupervised Discovery of Multi-Object Representations and Visual Dynamics
Alireza Rezazadeh, Athreyi Badithela, Karthik Desingh, Changhyun Choi
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RIDER: Reinforcement-Based Inferred Dynamics Via Emulating Rehearsals for Robot Navigation in Unstructured Environments
Sriram Siva, Maggie Wigness
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Enhanced Robust Motion Control Based on Unknown System Dynamics Estimator for Robot Manipulators
Xinyu Jia, Jun Yang, Lu Kaixin, Yongping Pan, Haoyong Yu
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Adaptive State Estimation with Constant-Curvature Dynamics Using Force-Torque Sensors with Application to a Soft Pneumatic Actuator
Phillip Maximilian Mehl, Max Bartholdt, Simon F. G. Ehlers, Thomas Seel, Moritz Schappler
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Learning Language-Conditioned Deformable Object Manipulation with Graph Dynamics
Yuhong Deng, Kai Mo, Chongkun XIA, xueqian WANG
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A Model for Multi-Agent Autonomy That Uses Opinion Dynamics and Multi-Objective Behavior Optimization
Tyler Paine, Michael Benjamin
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Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation under Disturbances and Unknown Dynamics
Farshad Khadivar, Aude Billard
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Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-To-Step Dynamics Based Control
Yi Wang, Jiarong Kang, Zhiheng Chen, Xiaobin Xiong
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Robust Body Exposure (RoBE): A Graph-Based Dynamics Modeling Approach to Manipulating Blankets Over People
Kavya Puthuveetil, Sasha Wald, Atharva Pusalkar, Pratyusha Karnati, Zackory Erickson
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Gathering Data from Risky Situations with Pareto-Optimal Trajectories
Brennan Brodt, Alyssa Pierson
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Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving
Sean J. Wang, Honghao Zhu, Aaron M. Johnson
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Harnessing the Differential Flatness of Monocopter Dynamics for the Purpose of Trajectory Tracking in a Stable Invertible Coaxial Actuated ROtorcraft (SICARO)
Emmanuel Tang, Wei Jun Ang, Kian Wee Tan, Shaohui Foong
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ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics
Luca Paparusso, Shreyas Kousik, Edward Schmerling, Francesco Braghin, Marco Pavone
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Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework
Lingfeng Sun, Haichao Zhang, Wei Xu, Masayoshi Tomizuka
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Asynchronous Distributed Smoothing and Mapping Via On-Manifold Consensus ADMM
Daniel McGann, Kyle Lassak, Michael Kaess
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