7 accepted papers
The integration of large language models (LLMs) into robotic task planning has unlocked better reasoning capabilities for complex, long-horizon workflows. However, ensuring safety in LLM-driven plans remains a critical challenge, as these models often prioritize task completion over risk mitigation.
To enable a mobile manipulator to effectively maneuver a cart, we derive a dynamic model for the cart that incorporates the nonholonomic constraints on its motion, and use this model to formulate an estimator for the cart's inertial parameters. By deriving the dynamic equations of the cart using a c…
This paper presents a real-time control framework for consensus in operational space for robotic manipulators while satisfying task and input constraints. Consensus in operational space, as compared to joint space, enables heterogeneous robotic manipulators to achieve consensus. However, traditional…
Increasingly, robots are working in close proximity with humans, and in dynamically changing environments. We present a new control architecture that guarantees safety under such conditions, while simultaneously ensuring that task goals are satisfied. Our approach combines Control Barrier Functions
In this paper, we study the problem of dynamic interaction between a robot and an unknown object (e.g., catching a ball, or handing off an object during locomotion). In particular, we propose a method for estimating the inertial parameters of an object during dynamic interaction, while minimally alt…
This paper presents a real-time safety and control for robot manipulators using control barrier functions and control Lyapunov functions in operational space. We first define the operational space in terms of system dynamics, jacobian, and torques and then ensure safety by designing Control Barrier…
We present a hierarchical framework for trajectory optimization and optimal feedback whole-body control of wheeled inverted pendulum (WIP) humanoid robot. The framework extends rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) to operational space for controlling WIP humanoid ro…