3 accepted papers
The concept of path homotopy has received widely attention in the field of path planning in recent years. In this letter, a homotopy invariant based on convex dissection for a two-dimensional bounded Euclidean space is developed, which can efficiently encode all homotopy path classes between any two
This letter presents an approach to develop a variable impedance controller with considerations of the optimality and stability. Firstly, an original optimal variable law is designed via demonstration learning, through which the Gaussian mixture model/Gaussian mixture regression (GMM/GMR) algorithm
This paper proposes a quadratic programming (QP)-based variable impedance control (VIC) algorithm to solve contact-rich trajectory tracking problems with impedance, position and velocity constraints. To the best of our knowledge, the impedance constraints which are significant to ensure the worst co…