4 accepted papers
This paper addresses the path-tracking problem of time-optimal trajectories under model uncertainties, by proposing a real-time predictive scaling algorithm. The algorithm is formulated as a convex optimization problem, designed to balance the trade-off between improving feasibility and time optimal
In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian reference of an impedance controller. Also, the conditions that ensure its convergen…
An integration of distributionally robust risk allocation into sampling-based motion planning algorithms for robots operating in uncertain environments is proposed. We perform non-uniform risk allocation by decomposing the distributionally robust joint risk constraints defined over the entire planni…
In this paper, Safety Control Barrier Functions (SCBFs) were used to adjust the null-space compliant behavior of a redundant robot to improve safety in Human-Robot Collaboration (HRC) without modifying the robot behavior with respect to its main Cartesian task. A Lyapunov function was included in an…