Joaquin Carrasco — accepted AI-conference papers

2024

Dynamics-Based Trajectory Planning for Vibration Suppression of a Flexible Long-Reach Robotic Manipulator System

Anthony Siming Chen, Erwin Jose Lopez Pulgarin, Guido Herrmann, Alexander Lanzon, Joaquin Carrasco, Barry Lennox +4

IROS 2024poster

We address the unique challenge of vibration suppression for a flexible long-reach robotic manipulator system, namely, the through-wall deployment (TWD) system that is used in nuclear environments. This paper proposes a novel dynamics-based trajectory optimization approach, which minimizes both the…

Cited by 0 Source ↗Scholar ↗

2023

Sim-and-Real Reinforcement Learning for Manipulation: A Consensus-based Approach

Wenxing Liu, Hanlin Niu, Wei Pan, Guido Herrmann, Joaquin Carrasco

ICRA 2023poster

Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow con-vergence to the optimal policy, nor effective, i.e., sizeable real-world robot data. Given limited time and hardware budge…

Cited by 9 Source ↗Scholar ↗

2022

A Novel Triad Twisted String Actuator for Controlling a Two Degrees of Freedom Joint: Design and Experimental Validation

Damian Crosby, Joaquin Carrasco, William Heath, Andrew Weightman

ICRA 2022poster

Actuated universal joints, or equivalent joint systems, are found in a number of robotic applications, in particular mobile snake robots, continuum robots and robotic tails. These joints have two degrees of freedom on two axes, each perpendicular to a third axis and to themselves. Such joints use a…

Cited by 1 Source ↗Scholar ↗