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ICRA 2024

2337 papers · 0 AI summaries · 2024

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106 result(s) for “stability” Page 1 of 3
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Investigating Stability Outcomes across Diverse Gait Patterns in Quadruped Robots: A Comparative Analysis
Zhongjin Ju, Ke Wei, Lei Jin, Yundou Xu
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Direct Kinematic Singularities and Stability Analysis of Sagging Cable-Driven Parallel Robots
Sébastien Briot, Jean-Pierre Merlet
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Towards Enhanced Stability of Human Stance with a Supernumerary Robotic Tail
Sajeeva Abeywardena, Ildar Farkhatdinov
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Stability Analysis of Plane-To-Plane Positioning by Proximity-Based Control
John Thomas, Francois Chaumette
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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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Stability Analysis of Tendon Driven Continuum Robots and Application to Active Softening
Quentin Peyron, Jessica Burgner-Kahrs
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A Modular, Tendon Driven Variable Stiffness Manipulator with Internal Routing for Improved Stability and Increased Payload Capacity
Kyle Liam Walker, Alix James Partridge, Hsing-Yu Chen, Rahul Ramakrishnan Ramachandran, Adam Andrew Stokes, Kenjiro Tadakuma, Lucas Cruz da SIlva, Francesco Giorgio-Serchi
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Learning Complex Motion Plans Using Neural ODEs with Safety and Stability Guarantees
Farhad Nawaz Savvas Sadiq Ali, Tianyu Li, Nikolai Matni, Nadia Figueroa
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Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty
Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi
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On the Optimality, Stability, and Feasibility of Control Barrier Functions: An Adaptive Learning-Based Approach
Alaa Eddine Chriat, Chuangchuang Sun
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Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability
Federico Girlanda, Shivesh Kumar, Lasse Shala, Frank Kirchner
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Stability Analysis of Distance-Angle Leader-Follower Formation Control
Manao Machida, Masumi Ichien
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Manipulator As a Tail: Promoting Dynamic Stability for Legged Locomotion
Huang Huang, Antonio Loquercio, Ashish Kumar, Neerja Thakkar, Ken Goldberg, Jitendra Malik
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Tactile Estimation of Extrinsic Contact Patch for Stable Placement
Kei Ota, Devesh Jha, Krishna Murthy Jatavallabhula, Asako Kanezaki, Joshua Tenenbaum
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A Reinforcement Learning-Based Control Strategy for Robust Interaction of Robotic Systems with Uncertain Environments
Diletta Sacerdoti, Federico Benzi, Cristian Secchi
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Learning a Flexible Neural Energy Function with a Unique Minimum for Globally Stable and Accurate Demonstration Learning
Zhehao Jin, WEIYONG SI, Andong Liu, Wen-An Zhang, Li Yu, Chenguang Yang
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Nonlinear Subsystem-Based Adaptive Impedance Control of Physical Human-Robot-Environment Interaction in Contact-Rich Tasks
Mahdi Hejrati, Jouni Mattila
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Stable, Safe, and Passive Teleoperation of Multi-Robot Systems
Gennaro Notomista
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A Novel Omnidirectional Swimming Robot with Articulated-Compliant Legs
Yaohui Xu, Hanlin Li, Furui Yu, Qiyang Zuo, Fengran Xie, Xiang Xie, Kai He
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Ultrafast Square-Root Filter-Based VINS
Yuxiang Peng, Chuchu Chen, Guoquan Huang
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Globally Stable Neural Imitation Policies
Amin Abyaneh, Mariana Sosa Guzmán, Hsiu-Chin Lin
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Learning a Stable Dynamic System with a Lyapunov Energy Function for Demonstratives Using Neural Networks
Yu Zhang, Yongxiang Zou, Haoyu Zhang, Xiuze Xia, Long Cheng
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Tethered Lifting-Wing Multicopter Landing Like Kite
Haoyu Wei, shuai wang, Quan Quan
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Approximate Multiagent Reinforcement Learning for On-Demand Urban Mobility Problem on a Large Map
Daniel Garces, Sushmita Bhattacharya, Dimitri Bertsekas, Stephanie Gil
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SPOTS: Stable Placement of Objects with Reasoning in Semi-Autonomous Teleoperation Systems
Joonhyung Lee, Sangbeom Park, Jeongeun Park, Kyungjae Lee, Sungjoon Choi
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Teach and Repeat Navigation: A Robust Control Approach
Payam Nourizadeh, Michael J Milford, Tobias Fischer
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Efficient Composite Learning Robot Control under Partial Interval Excitation
Tian Shi, Weibing Li, Haoyong Yu, Yongping Pan
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Design and Optimization of a Miniature Locust-Inspired Stable Jumping Robot
Yi Xu, Yanzhou Jin, Weitao Zhang, Yunhao Si, Yulai Zhang, Chang Li, Qing Shi
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Learning Terminal State of the Trajectory Planner: Application for Collision Scenarios of Autonomous Vehicles
Joonhee Lim, Kibeom Lee, Dongsuk Kum
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Realtime Brain-Inspired Adaptive Learning Control for Nonlinear Systems with Configuration Uncertainties
Yanhui Zhang, zheyu tong, YiFan Zhang, SONG CHEN, Junyuan Yang, Weifang Chen
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AirTwins: Modular Bi-Copters Capable of Splitting from Their Combined Quadcopter in Midair
Song Li, Fangyuan Liu, Yuzhe Gao, Jinwu Xiang, Zhan Tu, Daochun Li
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A Hybrid Controller Enhancing Transient Performance for an Aerial Manipulator Extracting a Wedged Object
Jeonghyun Byun, Inkyu Jang, Dongjae Lee, H. Jin Kim
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Nullspace Adaptive Model-Based Trajectory-Tracking Control for a 6-DOF Underwater Vehicle with Unknown Plant and Actuator Parameters: Theory and Preliminary Simulation Evaluation
Annie Mao, Joseph Moore, Louis Whitcomb
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STARK: A Unified Framework for Strongly Coupled Simulation of Rigid and Deformable Bodies with Frictional Contact
José Antonio Fernández-Fernández, Ralph Lange, Stefan Laible, Kai Oliver Arras, Jan Bender
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Parameter Identifying Disturbance Rejection Control with Asymptotic Error Convergence
Radosław Patelski, Dariusz Pazderski
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Gaussian Process-Enhanced, External and Internal Convertible (EIC) Form-Based Control of Underactuated Balance Robots
Feng Han, Jingang Yi
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Rider Cooperative Control of Rear-Wheel-Swing Motorcycle Based on Divergent Component of Motion
Tadashi Sumioka, Kazushi Akimoto, Takuya Tsujimura, Sho Takayanagi, Katsuhiko Fukushima, Tsubasa Nose
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Learning Covariances for Estimation with Constrained Bilevel Optimization
Mohamad Qadri, Zachary Manchester, Michael Kaess
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Grow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion
Laura Smith, Yunhao Cao, Sergey Levine
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Particle Filter with Stable Embedding for State Estimation of the Rigid Body Attitude System on the Set of Unit Quaternions
Hee-Deok Jang, Jae-Hyeon Park, Dong Eui Chang
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Circular Accessible Depth: A Robust Traversability Representation for UGV Navigation
Shikuan Xie, Ran Song, Yuenan Zhao, Xueqin Huang, Yibin Li, Wei Zhang
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Design and Visual Servoing Control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy
Jian Chen, Mingcong Chen, Qing xiang Zhao, Shuai Wang, yihe wang, Ying Xiao, Jian Hu, Tat-Ming Chan, Kam Tong Leo yeung, David Yuen Chung chan, Hongbin Liu
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Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control
Fabian Jakob, Xiao Chen, Hamid Sadeghian, Sami Haddadin
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Development of Variable Transmission Series Elastic Actuator for Hip Exoskeletons
Tianci Wang, Hao Wen, Zaixin Song, Zhiping Dong, Chunhua Liu
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HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLAM
Zhe Xin, Yufeng Yue, Liangjun Zhang, Chenming Wu
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Asynchronous Multiple LiDAR-Inertial Odometry Using Point-Wise Inter-LiDAR Uncertainty Propagation
Minwoo Jung, Sangwoo Jung, Ayoung Kim
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A Provably Stable Iterative Learning Controller for Continuum Soft Robots
Michele Pierallini, Francesco Stella, Franco Angelini, Bastian Deutschmann, Josie Hughes, Antonio Bicchi, Manolo Garabini, Cosimo Della Santina
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Non-Singular Fast Terminal Adaptive Visual Tracking Control with Reduced Tuning Parameters for an Aerial Vehicle under Perturbations
Gustavo Olivas-Martínez, Armando Miranda-Moya, Carlos Katt, Herman Castaneda
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Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization
Fan Yang, Wenxuan Zhou, Zuxin Liu, DING ZHAO, David Held
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AeroDima: Cheetah-Inspired Aerodynamic Tail Design for Rapid Maneuverability
Daryn Bright, Stacey Leigh Shield, Amir Patel
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