Robert Sun — accepted AI-conference papers

2024

On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators

Jee-Eun Lee, Andrew Bylard, Robert Sun, Luis Sentis

ICRA 2024poster

Jerk-constrained trajectories offer a wide range of advantages that collectively improve the performance of robotic systems, including increased energy efficiency, durability, and safety. In this paper, we present a novel approach to jerk-constrained time-optimal trajectory planning (TOTP), which fo…

Cited by 3 Source ↗Scholar ↗

2023

Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control

Jaemin Lee, Mingyo Seo, Andrew Bylard, Robert Sun, Luis Sentis

ICRA 2023poster

This paper proposes a real-time model predictive control (MPC) strategy for accomplishing multiple tasks using robots within a finite-time horizon. In industrial robotic applications, it is crucial to consider various constraints to ensure that joint position, velocity, and torque limits are not exc…

Cited by 18 Source ↗Scholar ↗