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ICRA 2024

2337 papers · 0 AI summaries · 2024

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2315 result(s) for “Multi-Contact Whole-Body Motion Planning and Control” Page 14 of 47
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Spline-Interpolated Model Predictive Path Integral Control with Stein Variational Inference for Reactive Navigation
Takato Miura, Naoki Akai, Kohei Honda, Susumu Hara
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Prediction of Pose Errors Implied by External Forces Applied on Robots: Towards a Metric for the Control of Collaborative Robots
Vincent Fortineau, Vincent Padois, David Daney
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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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Efficient Composite Learning Robot Control under Partial Interval Excitation
Tian Shi, Weibing Li, Haoyong Yu, Yongping Pan
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Hybrid Force-Position Control of an Elastic Tendon-Driven Scrubbing Robot (TEDSR)
Noah Harmatz, Alina Zahra, Amir Abdelmalak, Shivam Purohit, Trevor Shin, Aaron Mazzeo
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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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An Image Acquisition Scheme for Visual Odometry Based on Image Bracketing and Online Attribute Control
Shuyang Zhang, Jinhao He, Bohuan Xue, Wu Jin, Pengyu Yin, Jianhao JIAO, Ming Liu
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Learning-Based Propulsion Control for Amphibious Quadruped Robots with Dynamic Adaptation to Changing Environment
Qingfeng Yao, Linghan Meng, Qifeng Zhang, Jing Zhao, Joni Pajarinen, Xiaohui Wang, Zhibin (Alex) Li, Cong Wang
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Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots
Zachary Patterson, Cosimo Della Santina, Daniela Rus
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Relaxed Hover Solution Based Control for a Bi-Copter with Rotor and Servo Stuck Failure
Haixin Zhao, Ruifeng Li, Quan Quan
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Risk-Aware Control for Robots with Non-Gaussian Belief Spaces
Matti Vahs, Jana Tumova
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Fault Tolerant Neural Control Barrier Functions for Robotic Systems under Sensor Faults and Attacks
Hongchao Zhang, Luyao Niu, Andrew Clark, Radha Poovendran
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Leveraging Tethers for Distributed Formation Control of Simple Robots
Sadie Cutler, Kirstin Hagelskjaer Petersen
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Modeling and Control of PADUAV: A Passively Articulated Dual UAVs Platform for Aerial Manipulation
Jiali Sun, Kaidi Wang, Chuanbeibei Shi, Xiujia Li, Xiaojian Yi, Yushu Yu, Fuchun Sun, Yiqun Dong
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Task-Space Control of a Powered Ankle Prosthesis
David Kelly, Ryan Posh, Patrick M. Wensing
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An Extrinsic Calibration Method between LiDAR and GNSS/INS for Autonomous Driving
Jiahao Pi, Guohang Yan, Chengjie Wang, Xinyu Cai, Botian Shi
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Context-Aware Timewise VAEs for Real-Time Vehicle Trajectory Prediction
Pei Xu, Jean-Bernard Hayet, Ioannis Karamouzas
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Doppler-Only Single-Scan 3D Vehicle Odometry
Andres Galeote-Luque, Vladimir Kubelka, Martin Magnusson, J.R. Ruiz-Sarmiento, Javier Gonzalez-Jimenez
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Stability Analysis of Plane-To-Plane Positioning by Proximity-Based Control
John Thomas, Francois Chaumette
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Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions
Ryan Cosner, Igor Sadalski, Jana Woo, Preston Culbertson, Aaron Ames
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An Intelligent Robotic Endoscope Control System Based on Fusing Natural Language Processing and Vision Models
Beili Dong, Junhong Chen, Zeyu Wang, Kaizhong Deng, Yiping Li, Benny Ping Lai Lo, George Mylonas
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A Novel Metric for Detecting Quadrotor Loss-Of-Control
Jasper van Beers, Prashant Solanki, Coen de Visser
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CLIPUNetr: Assisting Human-Robot Interface for Uncalibrated Visual Servoing Control with CLIP-Driven Referring Expression Segmentation
Chen Jiang, Yuchen Yang, Martin Jagersand
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VBOC: Learning the Viability Boundary of a Robot Manipulator Using Optimal Control
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
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Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs Over Walking Speeds and Inclines
Albert Lee, Curt A. Laubscher, T. Kevin Best, Robert D. Gregg
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EMG-Based Intention Detection Using Deep Learning for Shared Control in Upper-Limb Assistive Exoskeletons
Paniz Sedighi, Xingyu Li, Mahdi Tavakoli
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Geometric Algebra for Optimal Control with Applications in Manipulation Tasks
Tobias Löw, Sylvain Calinon
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Transparency Control of a 1-DoF Knee Exoskeleton Via Human-in-the-Loop Velocity Optimisation
Lukas Cha, Annika Guez, Chih-Yu Chen, Sion Kim, ZHENHUA YU, Bo Xiao, Ravi Vaidyanathan
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The Fractal Hand--I: A Non-Anthropomorphic, but Synergistic, Adaptable Gripper
Joel Burdick, Malcolm Tisdale
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Continuously Estimate and Control Prosthetic Grip Force by an Optical Waveguide Sensor
Linhang Ju, Hanze Jia, Yanjun Shi, Xilun Ding, Yanggang Feng, Wuxiang Zhang
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Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control
Kübra Karacan, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, Sami Haddadin
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Flow Shadowing: A Method to Detect Multiple Flow Headings Using an Array of Densely Packed Whisker-Inspired Sensors
Teresa Kent, Sarah Bergbreiter
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Sensor-based Multi-Robot Coverage Control with Spatial Separation in Unstructured Environments
Xinyi Wang, Jiwen Xu, CHUANXIANG GAO, Yizhou Chen, Jihan Zhang, Chenggang Wang, Yulong Ding, Ben M. Chen
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Persistent Monitoring of Multiple Moving Targets Using High Order Control Barrier Functions
Lorenzo Balandi, Nicola De Carli, Paolo Robuffo Giordano
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Nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping
Alexander Millane, Helen Oleynikova, Emilie Wirbel, Remo Steiner, Vikram Ramasamy, David Tingdahl, Roland Siegwart
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Close-Range Human Following Control on a Cane-Type Robot with Multi-Camera Fusion
Haowen Liu, Fengxian Wu, Bin Zhong, Yijun Zhao, Jiatong Zhang, Wenxin Niu, Mingming Zhang
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Model Optimization in Deep Learning Based Robot Control for Autonomous Driving
Sergio Paniego, Nikhil Paliwal, José M. Cañas
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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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Synthesize Efficient Safety Certificates for Learning-Based Safe Control Using Magnitude Regularization
Haotian Zheng, Haitong Ma, Sifa Zheng, Shengbo Eben Li, Jianqiang Wang
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Model-Free 3D Shape Control of Deformable Objects Using Novel Features Based on Modal Analysis
Bohan Yang, Bo LU, Wei Chen, Fangxun ZHONG, Yunhui Liu
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Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles
Kohei Honda, Naoki Akai, Kosuke Suzuki, Mizuho Aoki, Hirotaka Hosogaya, Hiroyuki Okuda, Tatsuya Suzuki
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Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach
Dennis Ossadnik, Vasilije Rakcevic, Mehmet Can Yildirim, Edmundo Pozo Fortunić, Hugo Tadashi Kussaba, Abdalla Swikir, Sami Haddadin
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MoRC - a Modular Robot Controller
Carsten Oldemeyer, Matthias Hellerer, Matthias Reiner, Bernhard Thiele, Patrick Weber, Tobias Bellmann
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MAC-ID: Multi-Agent Reinforcement Learning with Local Coordination for Individual Diversity
Hojun Chung, Jeongwoo Oh, Jae Seok Heo, Gunmin Lee, Songhwai Oh
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Design and Control of a Transformable Multi-Mode Mobile Robot
Haoran Li, Yongzhong Bu, Yongjian Bu, Shixin Mao, Yisheng Guan, Haifei Zhu
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Distributed Differential Dynamic Programming Architectures for Large-Scale Multi-Agent Control
Augustinos Saravanos, Yuichiro Aoyama, Hongchang Zhu, Evangelos Theodorou
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Real-Time Adaptive Safety-Critical Control with Gaussian Processes in High-Order Uncertain Models
Yu Zhang, Long Wen, Xiangtong Yao, Zhenshan Bing, Linghuan Kong, Wei He, Alois Knoll
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UDE-Based Robust Control of a Quadrotor-Slung-Load System
Yanhu Wang, Gan Yu, Wei Xie, Weidong Zhang, Carlos Silvestre
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Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions
Zheng Shen, Matteo Saveriano, Fares Abu-Dakka, Sami Haddadin
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Chance-Aware Lane Change with High-Level Model Predictive Control through Curriculum Reinforcement Learning
Yubin Wang, Yulin Li, Zengqi Peng, Hakim Ghazzai, Jun Ma
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