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ICRA 2023

1655 papers · 0 AI summaries · 2023

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167 result(s) for “Lagrangian Dynamics” Page 2 of 4
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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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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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Towards Human-Robot Collaboration with Parallel Robots by Kinetostatic Analysis, Impedance Control and Contact Detection
Aran Mohammad, Moritz Schappler, Tobias Ortmaier
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Dynamic Modeling and Identification of a Robotic Intracardiac Echo Catheter
Mohammad Salehizadeh, Filipe Pedrosa, Harmanpreet Bassan, Rajnikant V. Patel, Jagadeesan Jayender
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Learning to Influence Vehicles' Routing in Mixed-Autonomy Networks by Dynamically Controlling the Headway of Autonomous Cars
Xiaoyu Ma, Negar Mehr
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Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations
Andrew Morgan, Quentin Bateux, Mei Hao, Aaron Dollar
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Adaptive Cooperative Control for Human-Robot Load Manipulation
Carlos Rodríguez de Cos, Dimos V. Dimarogonas
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DribbleBot: Dynamic Legged Manipulation in the Wild
Yandong Ji, Gabriel Margolis, Pulkit Agrawal
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Passivity-Based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators
Jinyeong Jeong, Min Jun Kim
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Model Based Position Control of Soft Hydraulic Actuators
Mark Runciman, Enrico Franco, James Avery, Ferdinando Rodriguez y Baena, George Mylonas
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Learning Deep Neural Network Controller for Path Following of Unicycle Robots
Priyabrata Saha, Luis Guerrero-Bonilla, Magnus Egerstedt, Saibal Mukhopadhyay
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Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation
Aalok Patwardhan, Riku Murai, Andrew J Davison
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LEMURS: Learning Distributed Multi-Robot Interactions
Eduardo Sebastián, Thai Duong, Nikolay Atanasov, Eduardo Montijano, Carlos Sagues
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Adaptive Tracking Control with Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators
Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, Alexander Dietrich
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Integrated Vector Field and Backstepping Control for Quadcopters
Arthur Henrique Dias Nunes, Guilherme V. Raffo, Luciano Pimenta
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A Control Approach for Human-Robot Ergonomic Payload Lifting
Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid, Yeshasvi Tirupachuri, Francesco Draicchio, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
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Time-Inverted Kuramoto Model Meets Lissajous Curves: Multi-Robot Persistent Monitoring and Target Detection
Manuel Boldrer, Lorenzo Lyons, Luigi Palopoli, Daniele Fontanelli, Laura Ferranti
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Modular and Parallelizable Multibody Physics Simulation Via Subsystem-Based ADMM
Jeongmin Lee, Minji Lee, Dongjun Lee
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Data-Driven Iterative Optimal Control for Switched Dynamical Systems
Yuqing Chen, Yangzhi Li, David Braun
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Robust Multi-Robot Trajectory Optimization Using Alternating Direction Method of Multiplier
Ruiqi Ni, Zherong Pan, Xifeng Gao
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A Micro Aircraft with Passive Variable-Sweep Wings
Songnan Bai, Runze Ding, Pakpong Chirarattananon
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ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications
Kartik Suryavanshi, Salua Hamaza, Volkert van der Wijk, Just Herder
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Reinforcement Learning Control of a Reconfigurable Planar Cable Driven Parallel Manipulator
Adhiti Raman Thothathri, Ameya Salvi, Matthias Schmid, Venkat Krovi
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A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria
Edward Zhu, Francesco Borrelli
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Model Predictive Optimized Path Integral Strategies
Dylan Asmar, Ransalu Senanayake, Shawn Manuel, Mykel Kochenderfer
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Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization
Maegan Tucker, Noel Csomay-Shanklin, Aaron Ames
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Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Yixuan Huang, Adam Conkey, Tucker Hermans
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A Fast Geometric Framework for Dynamic Cosserat Rods with Discrete Actuated Joints
Hossain Samei, Robin Chhabra
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Risk-Aware Spatio-Temporal Logic Planning in Gaussian Belief Spaces
Matti Vahs, Christian Pek, Jana Tumova
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Learning Stable Vector Fields on Lie Groups
Julen Urain De Jesus, Davide Tateo, Jan Peters
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Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
Wyatt Ubellacker, Aaron Ames
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Connecting Gaits in Energetically Conservative Legged Systems
Maximilian Raff, Nelson Rosa, C. David Remy
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Parameter Estimation and Control of Multirotors
Cheng-Cheng Yang, Teng-Hu Cheng
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Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles Using Density-Based Reachability
Laura Lützow, Yue Meng, Andres Chavez Armijos, Chuchu Fan
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Mean Field Behaviour of Collaborative Multi-Agent Foragers
Daniel Jarne Ornia, Pedro J. Zufiria, Manuel Mazo Jr
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Multi-Robot Mission Planning in Dynamic Semantic Environments
Samarth Kalluraya, George J. Pappas, Yiannis Kantaros
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