Robust real-time whole-body motion retargeting from human to humanoid
Transferring the motion from a human operator to a humanoid robot is a crucial step to
enable robots to learn from and replicate human movements. The ability to retarget in …
enable robots to learn from and replicate human movements. The ability to retarget in …
Robust co-design of robots via cascaded optimisation
A Sathuluri, AV Sureshbabu… - 2023 IEEE International …, 2023 - ieeexplore.ieee.org
Optimising mechanical, control and actuator design variables together as a co-design
problem enables identifying novel and better-performing robot architectures. Typically …
problem enables identifying novel and better-performing robot architectures. Typically …
Task accuracy enhancement for a surgical macro-micro manipulator with probabilistic neural networks and uncertainty minimization
F Cursi, W Bai, EM Yeatman… - IEEE Transactions on …, 2022 - ieeexplore.ieee.org
Accurate robot kinematic modelling is a major component for autonomous robot control to
guarantee safety and precision during task execution. In surgical robotics complex robotic …
guarantee safety and precision during task execution. In surgical robotics complex robotic …
Bayesian neural network modeling and hierarchical MPC for a tendon-driven surgical robot with uncertainty minimization
In order to guarantee precision and safety in robotic surgery, accurate models of the robot
and proper control strategies are needed. Bayesian Neural Networks (BNN) are capable of …
and proper control strategies are needed. Bayesian Neural Networks (BNN) are capable of …
Learning to sequence and blend robot skills via differentiable optimization
In contrast to humans and animals who naturally execute seamless motions, learning and
smoothly executing sequences of actions remains a challenge in robotics. This letter …
smoothly executing sequences of actions remains a challenge in robotics. This letter …
Learning robust task priorities and gains for control of redundant robots
Generating complex movements in redundant robots like humanoids is usually done by
means of multi-task controllers based on quadratic programming, where a multitude of tasks …
means of multi-task controllers based on quadratic programming, where a multitude of tasks …
Model predictive control for a tendon-driven surgical robot with safety constraints in kinematics and dynamics
In fields such as minimally invasive surgery, effective control strategies are needed to
guarantee safety and accuracy of the surgical task. Mechanical designs and actuation …
guarantee safety and accuracy of the surgical task. Mechanical designs and actuation …
Spline-based trajectory generation to estimate execution time in a robotic assembly cell
An execution time estimation model is proposed to accurately estimate the execution time in
a robotic assembly workcell. The current study exploits a trajectory generation, which is …
a robotic assembly workcell. The current study exploits a trajectory generation, which is …
Learning robust task priorities of QP-based whole-body torque-controllers
Generating complex whole-body movements for humanoid robots is now most often
achieved with multi-task whole-body controllers based on quadratic programming. To …
achieved with multi-task whole-body controllers based on quadratic programming. To …
Learning context-adaptive task constraints for robotic manipulation
D Mronga, F Kirchner - Robotics and Autonomous Systems, 2021 - Elsevier
Constraint-based control approaches offer a flexible way to specify robotic manipulation
tasks and execute them on robots with many degrees of freedom. However, the specification …
tasks and execute them on robots with many degrees of freedom. However, the specification …