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IROS 2023 workshop Accepted: Reactive and Predictive Humanoid Whole-body Control
Published:
Our full-day workshop has been selected for IROS 2023 at Huntington Place in Detroit, Michigan, USA
Software release: (floating-base) robot kinematics and dynamics
Published:
Following the geometric approach, our implementation features efficient C++ code and provides analytical gradients. Please feel free to give it a try!
ICRA 2021 workshop: High dynamic motion generation for under-actuated robots
Published:
On June 4th, we will organize the workshop from 09:00am to 05:00pm in time zone: GMT +8.
C++ Implementation of Analytical Frictional Impact Dynamics Model
Published:
This is the first frictional impact model in three dimensions developed for robot applications. As an illustration, the figure below shows the moments corresponding to (1) the initial state, (2) the end of compression, and (3) the end of restitution during the impulse evolution. 
I defended my PhD
Published:
portfolio
Impact-Aware Task-Space Quadratic-Programming Control
We enable swift robot motion without fearing impacts with the environment. For instance in a box manipulation task, the robot does not need to stop or use close-to-zero velocity to establish contacts 
A Quadratic-Programming Approach to Dual-arm Mobile Manipulation
We provide the optimization-based robot control approach that enables a modular description of robotic tasks and a reactive solution in real-time. 
publications
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
Dual Arm Manipulation using Constraint Based Programming
Published in 19th IFAC World Congress, 2014
We proposed the quadratic programming approach for dual-arm manipulation tasks, i.e., a pan cleaning task performed with Schunk arms equiped with ATI force-torque sensor.
Recommended citation: (2014). " Dual Arm Manipulation using Constraint Based Programming" 19th IFAC World Congress. https://www.sciencedirect.com/science/article/pii/S1474667016416332
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
Whole body control of a dual-arm mobile robot using a virtual kinematic chain
Published in International Journal of Humanoid Robotics, 2016
Optimization-based approach that enables a dual-arm mobile manipulator to comanipulate with an human operator.
Recommended citation: (2016). " Whole body control of a dual-arm mobile robot using a virtual kinematic chain" International Journal of Humanoid Robotics. http://www.csc.kth.se/~yuquan/paper/ijhrYuquan.pdf
Adaptive object centered teleoperation control of a mobile manipulator
Published in 2016 IEEE International Conference on Robotics and Automation, 2016
A quadratic programming approach to tele-operate a mobile robot.
Download here
Sample-efficient learning of soft task priorities through bayesian optimization
Published in IEEE-RAS International Conference on Humanoid Robots, 2018
We use the Bayesian Optimization procedure to regulate the soft task-priorities of a quadratic programming controller.
Recommended citation: (2018). "Sample-efficient learning of soft task priorities through bayesian optimization." IEEE-RAS International Conference on Humanoid Robots. https://ieeexplore.ieee.org/document/8624974
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
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-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
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
Dual-arm box grabbing with impact-aware model predictive control utilizing soft deformable end-effector pads
Published in IEEE Robotics and Automation Letters, 2022
Recommended citation: Dehio N, Wang Y and Kheddar A (2022) Dual-arm box grabbing with impact-aware model predictive control utilizing soft deformable end-effector pads. IEEE Robotics and Automation Letters 7(2): 5647–5654. https://hal.science/hal-03602884/document
Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator
Published in IEEE Robotics and Automation Letters, 2022
Recommended citation: Y. Wang, N. Dehio, and A. Kheddar, “Predicting post-impact joint velocity jumps on kinematics controlled manipulators,” IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6226 – 6233, 2022. https://arxiv.org/pdf/2202.12646.pdf
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
talks
Dual Arm Manipulation using Constraint Based Programming
Published:
Constraint-based programming is a modular approach to describe a complex task. We proposed to simultaneously minimize the error dynamics of each constraint by solving a quadratic optimization problem, see the details in the slides and the research paper using a pan cleaning example.
Human-robot table co-manipulation demonstration at Forskning Pågår 2014
Published:
We envision a future where robots can assist human to manipulate bulky, or heavy objects. A mobile dual-arm robot is an ideal candidate for this purpose. During the week, our PR2 robot helped the public audiences, especially the children, to co-manipulate a table.
Impact-aware humanoid robot motion generation with a quadratic optimization controller
Published:
We documented the abstract and the slides. The recorded presentation will be on-line in the future.
Impact-Aware Humanoid Control
Published:
teaching
Teaching Assistant of Object-Oriented Program Construction
Undergraduate course, KTH-Royal Institute of Technology, School of Computer Science and Communication, 2015
This is a entry-level Java programming course DD1346. I was responsible for the lab sessions and the homeworks.
Teaching Assistant of Image Analysis and Computer Vision
Master Program Course, KTH-Royal Institute of Technology, School of Computer Science and Communication, 2015
Help the students of DD2423 with the Lab sesstions and grade the home works.
Teaching Assistant of Applied Programming and Computer Science, Part 2
Undergraduate course, KTH-Royal Institute of Technology, School of Computer Science and Communication, 2015
This is a entry-level C programming course DD1324 for students not necessarily with an engineering or a scientific background. I was responsible for the lab sessions and the homeworks.