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ICRA 2023

1655 papers · 0 AI summaries · 2023

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167 result(s) for “Lagrangian Dynamics” Page 1 of 4
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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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Differential Dynamic Programming Based Hybrid Manipulation Strategy for Dynamic Grasping
Cheng Zhou, Yanbo Long, Lei Shi, Longfei Zhao, Yu Zheng
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Chance-Constrained Iterative Linear-Quadratic Stochastic Games
Hai Zhong, Yutaka Shimizu, Jianyu Chen
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Enforcing the Consensus between Trajectory Optimization and Policy Learning for Precise Robot Control
Quentin Le Lidec, Wilson Jallet, Ivan Laptev, Cordelia Schmid, Justin Carpentier
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Safety-Constrained Policy Transfer with Successor Features
Zeyu Feng, Bowen Zhang, Jianxin Bi, Harold Soh
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Handling Constrained Optimization in Factor Graphs for Autonomous Navigation
Barbara Bazzana, Tiziano Guadagnino, Giorgio Grisetti
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Dynamic Modeling and Performance Analysis for a Wire-Driven Elastic Robotic Fish
Xiaocun Liao, Chao Zhou, Qianqian Zou, Jian Wang, Ben Lu
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Focused Adaptation of Dynamics Models for Deformable Object Manipulation
Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson
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Low-Level Controller in Response to Changes in Quadrotor Dynamics
Jaekyung Cho, Chan Kim, Mohamed Khalid M Jaffar, Michael W. Otte, Seong-Woo Kim
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Hierarchical Whole-Body Control of the Cable-Suspended Aerial Manipulator Endowed with Winch-Based Actuation
Yuri Sarkisov, Andre Coelho, Maihara Gabrieli Santos, Min Jun Kim, Dzmitry Tsetserukou, Christian Ott, Konstantin Kondak
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Differentiable Dynamics Simulation Using Invariant Contact Mapping and Damped Contact Force
Minji Lee, Jeongmin Lee, Dongjun Lee
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Telerobot Operators Can Account for Varying Transmission Dynamics in a Visuo-Haptic Object Tracking Task
Mohit Singhala, Jeremy DeLaine Brown
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Gradient-Based Trajectory Optimization with Learned Dynamics
Bhavya Sukhija, Nathanael Köhler, Miguel Angel Zamora Mora, Simon Zimmermann, Sebastian Curi, Stelian Coros, Andreas Krause
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Optimal Multi-Robot Coverage Path Planning for Agricultural Fields Using Motion Dynamics
Jahid Chowdhury Choton, Pavithra Prabhakar
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Sim-To-Real Policy and Reward Transfer with Adaptive Forward Dynamics Model
Rongshun Juan, Hao Ju, Jie Huang, Randy Gomez, Keisuke Nakamura, Guangliang Li
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EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics
Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, David Held, Zackory Erickson, Danica Kragic
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Adaptive Approximation of Dynamics Gradients Via Interpolation to Speed up Trajectory Optimisation
David Mackenzie Charles Russell, Rafael Papallas, Mehmet R Dogar
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Credible Online Dynamics Learning for Hybrid UAVs
David Rohr, Nicholas Lawrance, Olov Andersson, Roland Siegwart
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Efficient Preference-Based Reinforcement Learning Using Learned Dynamics Models
Yi Liu, Gaurav Datta, Ellen Novoseller, Daniel Brown
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Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries
Jee-eun Lee, Jaemin Lee, Tirthankar Bandyopadhyay, Luis Sentis
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Neural Optimal Control Using Learned System Dynamics
Kazim Selim Engin, Volkan Isler
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A Multi-Step Dynamics Modeling Framework for Autonomous Driving in Multiple Environments
Jason Gibson, Bogdan Vlahov, David D Fan, Patrick Spieler, Daniel Pastor, Ali-akbar Agha-mohammadi, Evangelos Theodorou
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Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance
Tomoya Kamimura, Akihito Sano
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Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees
Ewerton Vieira, Aravind Sivaramakrishnan, Yao Song, Edgar Granados, Marcio Gameiro, Konstantin Mischaikow, Ying Hung, Kostas E. Bekris
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Learning Stable Dynamics Via Iterative Quadratic Programming
Paul Gesel, Momotaz Begum
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Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories
Frédéric Boyer, Vincent Lebastard, Fabien Candelier, Federico Renda, Mazen Alamir
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Hybrid Learning of Time-Series Inverse Dynamics Models for Locally Isotropic Robot Motion
Tolga-Can Çallar, Sven Böttger
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Robot Mimicry Attack on Keystroke-Dynamics User Identification and Authentication System
Rongyu Yu, Burak Kizilkaya, Zhen Meng, Liying Emma Li, Guodong Zhao, Muhammad Ali Imran
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Large-Dimensional Multibody Dynamics Simulation Using Contact Nodalization and Diagonalization
Lee, Jeongmin,Lee, Minji,Lee, Dongjun
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GaPT: Gaussian Process Toolkit for Online Regression with Application to Learning Quadrotor Dynamics
Francesco Crocetti, Jeffrey Mao, Alessandro Saviolo, Gabriele Costante, Giuseppe Loianno
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Adaptive-SpikeNet: Event-Based Optical Flow Estimation Using Spiking Neural Networks with Learnable Neuronal Dynamics
Adarsh Kumar Kosta, Kaushik Roy
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Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties & Applications
Hrishik Mishra, Gianluca Garofalo, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott, Andreas Kugi
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Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems
Craig Knuth, Glen Chou, Jamie Reese, Joseph Moore
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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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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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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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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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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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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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Differential Dynamic Programming with Nonlinear Safety Constraints under System Uncertainties
Gokhan Alcan, Ville Kyrki
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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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