Gerhard Elsbacher — accepted AI-conference papers

2025

Energy Shaping Control in Underactuated Robot Systems With Underactuation Degree Two

Babak Salamat, Gerhard Elsbacher, Andrea M. Tonello

RA-L 2025

Stabilizing a 6DOF underactuated mechanical system (<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathbb {R}^{3} \times SO(3)$</tex-math></inline-formula>) without a cascade structure while utilizing a full-stat

Cited by 5 Source ↗Scholar ↗

2024

Investigating Integral Reinforcement Learning to Achieve Asymptotic Stability in Underactuated Mechanical Systems

Babak Salamat, Daniel Bencic, Gerhard Elsbacher, Christian Seidel, Andrea M. Tonello

RA-L 2024

This letter introduces an innovative data-driven integral reinforcement learning (IRL) algorithm for the control of a class of underactuated mechanical systems. We propose a novel value function that allows shaping and learning the potential energy of an underactuated system and to drive it to a des

Cited by 4 Source ↗Scholar ↗