Yuquan Wang

Yuquan Wang

Assistant Professor
Ph.D in robotics

Selected Publications in Quadratic-Programming Control

Impact-Aware Task-Space Quadratic-Programming Control

Published in International Journal of Robotics Research, 2023

We summarize the impact-aware constraints formulation of the model-based quadratic-programming controller. The impact-awareness enables online filtering of the reference contact velocities such that all the constraints are respected despite the impact

Recommended citation: Wang, Y., Dehio, N., Tanguy, A., & Kheddar, A. (2023). "Impact-Aware Task-Space Quadratic-Programming Control. " International Journal of Robotics Research . https://arxiv.org/abs/2006.01987

On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

Published in IEEE Robotics and Automation Letters, 2022

Evaluating the force measurements from 150 impact experiments, the best model-to-data matching suggests a viscoelastic contact-force model and computing the inverse inertia matrix (impulse-to velocity mapping) assuming the robot is a composite-rigid body

Recommended citation: Y. Wang, N. Dehio, and A. Kheddar, “On inverse inertia matrix and contact-force model for robotic manipulators at normal impacts,” IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3648–3655, 2022. https://arxiv.org/abs/2109.04756

Impact-aware humanoid robot motion generation with a quadratic optimization controller

Published in IEEE-RAS International Conference on Humanoid Robots, 2019

We present our initial efforts to apply impact-aware constraints for a floating-base robot.

Recommended citation: Wang, Yuquan and Tanguy, Arnaud and Gergondet, Pierre and Kheddar, Abderrahmane. (2019). "Impact-aware humanoid robot motion generation with a quadratic optimization controller. " IEEE-RAS International Conference on Humanoid Robots. https://arxiv.org/abs/2001.08454

Whole-body collision avoidance control design using quadratic programming with strict and soft task priorities

Published in Robotics and Computer Integrated Manufacturing, 2019

We achieved whole-body collision avoidance with quadratic-programming with soft and strict task priorities.

Recommended citation: Wang, Yuquan and Wang, Lihui (2019). " Whole-body collision avoidance control design using quadratic programming with strict and soft task priorities. " Robotics and Computer Integrated Manufacturing . https://www.sciencedirect.com/science/article/pii/S0736584518303405

Impact-Friendly Robust Control Design with Task-Space Quadratic Optimization

Published in Robotics: Science and Systems XV, 2019

We introduce the impact-awareness to the QP controller by including the gradient of impact-induced state jumps with respect to the QP decision variables.

Recommended citation: Yuquan Wang AND Abderrahmane Kheddar. (2019). "Impact-Friendly Robust Control Design with Task-Space Quadratic Optimization. " Robotics: Science and Systems XV. http://www.roboticsproceedings.org/rss15/p32.html

Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application

Published in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

We propose to use a Virtual Kinematic Chain (VKC) to specify the common motion of the parallel manipulators mounted on a mobile base, instead of commanding the two manipulators kinematics independently.

Recommended citation: (2015). " Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application" 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-179638

A transformation of the position based visual servoing problem into a convex optimization problem

Published in 51st IEEE Conference on Decision and Control, 2012

We introduce a two step method that transforms the position-based visual servoing problem into a convex optimization problem with linear constraints.

Recommended citation: (2012). " A transformation of the position based visual servoing problem into a convex optimization problem " 51st IEEE Conference on Decision and Control. https://ieeexplore.ieee.org/document/6426022