6 accepted papers
Existing recursive rigid body dynamics algorithms with low computational complexity are mostly restricted to kinematic trees with external contact constraints or are sensitive to singular cases (e.g., linearly dependent constraints and kinematic singularities), severely impacting their practical usa…
For decades, inverse kinematics (IK) was an intense and active research area in robotics. Beyond analytical solutions limited to a restricted range of robotic systems and applications, differential inverse kinematics has emerged as a generic class of methods, able to cope with a wider variety of rob…
We present PV-OSIMr, an efficient algorithm for computing the Delassus matrix (also known as the inverse operational space inertia matrix) for a kinematic tree, with the lowest order computational complexity known in literature. PV-OSIMr is derived by optimizing the recently proposed PV-OSIM algorit
Prioritization of tasks is a common approach to resolve conflicts in instantaneous control of redundant robots. However, the idea of prioritization has not yet been satisfactorily extended to model predictive control (MPC) to allow for real-time robot control. The standard sequential approach for pr…
We present Tasho (Task specification for receding horizon control), an open-source Python toolbox that facilitates systematic programming of optimal control problem (OCP)-based robot motion skills. Separation-of-concerns is followed while designing the components of a motion skill, which promotes th…
Extensive work has been done on efficiently resolving hierarchical robot task specifications that minimize the <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">l</i> -2 norm of linear constraint violations, but not for <i xmlns:mml="http://www.w3.org/1998/