11 accepted papers
This paper presents a comprehensive framework for robotic manipulation tasks, incorporating systematic fault handling and recovery strategies. The framework leverages model predictive interaction control (MPIC) as a path-following controller to enable dynamic replanning of motion and wrench referenc
This paper presents a novel approach for time-optimal path parameterization based on reachability analysis for robotic systems with viscous friction in the dynamics and jerk constraints. The main step of the method is the backward propagation of controllable sets through a linear second-order system
This paper presents a time-optimal path parameterization (TOPP) method for cooperative multi-arm robotic systems (MARS) manipulating heavy objects with third-order constraints that include jerk, torque rate and wrench rate limits. The method is based on a problem reformulation as a sequential linear…
This paper presents a new control scheme for cooperative dual-arm robots manipulating heavy objects. The proposed method uses the full dynamical model of the kinematically coupled robot system and builds on a hierarchical quadratic programming (HQP) formulation to enforce dynamical inequality constr…
Recently, data-driven and hybrid control of hydraulic cylinders for excavator assistance functions have been in the focus of many research papers. To ensure an accurate behavior, data-driven controllers and models need a large amount of data to cover all relevant operation regions, which requires a…
The development of modern sensitive lightweight robots allows the use of robot arms in numerous new scenarios. Especially in applications where interaction between the robot and an object is desired, e.g. in assembly, conventional purely position-controlled robots fail. Former research has focused,…
This letter proposes a predictive path-following controller for efficient time parameterization during continuous replanning with dynamic roadmaps (DRMs). DRMs are an approach for fast global path planning in changing environments and are based on a precomputed graph in the configuration space and m
This paper addresses the optimization-based planning of collision-free motions for a dual-arm robot with kinematic constraints. Such problems arise, for example, when the robot has to move an object with both arms, whereby the two arms and the gripped object form a closed kinematic chain. Such const…
This contribution presents a motion cueing algorithm (MCA) for driving simulators using nonlinear model predictive control (MPC). The goal of the MCA is to generate a realistic motion feeling while keeping the simulator within its workspace limits. The approach relies on a realtime gradient algorith…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the nonlinear system dynamics within the optimization problem to be so…
A control concept is presented for hopping robots with hip and tail actuation. The flight phase is controlled by a novel nonlinear control concept that accounts for state and input contraints on the hip and tail while pursuing a linear error dynamics for the desired landing angle of the leg. An addi…