Carlos Ocampo-Martinez — accepted AI-conference papers

2023

Quadratic Dynamic Matrix Control for Fast Cloth Manipulation

Edoardo Caldarelli, Adrià Colomé, Carlos Ocampo-Martinez, Carme Torras

IROS 2023poster

Robotic cloth manipulation is an increasingly relevant area of research, challenging classic control algorithms due to the deformable nature of cloth. While it is possible to apply linear model predictive control to make the robot move the cloth according to a given reference, this approach suffers…

Cited by 3 Source ↗Scholar ↗

2020

Multi-task closed-loop inverse kinematics stability through semidefinite programming

Josep Marti-Saumell, Angel Santamaria-Navarro, Carlos Ocampo-Martinez, Juan Andrade-Cetto

ICRA 2020poster

Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the local stability problem of a hierarchical closed-loop inverse kinematics algorithm for such…

Cited by 5 Source ↗Scholar ↗