3 accepted papers
Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. However, tuning these controllers remains a considerable hurdle. To address this hurdle, we propose a practical MPC formu
The dynamic manipulation of deformable objects poses a significant challenge in robotics. While model-based approaches for controlling such objects hold significant potential, their effectiveness hinges on the availability of an accurate and computationally efficient dynamics model. This work focuse
Flexible robots may overcome some of the industry’s major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to their complex dynamics, which include oscillatory behavior and…