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C++ Implementation of Analytical Frictional Impact Dynamics Model

less than 1 minute read

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.

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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

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

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

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

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