9 accepted papers
In this paper, we combine first-order approximations of hybrid systems (i.e., the so-called saltation matrix) with previous works on parametric sensitivity for continuous systems to propose a general framework for robust trajectory optimization of hybrid systems subject to parametric uncertainties. …
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex costs. However, its applicability in real-time, high-frequency robotic control scenarios is limited by computational de…
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex costs. However, its applicability in real-time, high-frequency robotic control scenarios is limited by computational de
Vision-Based Tactile Sensors (VBTSs) offer high-resolution contact information essential for robust robotic contact-rich manipulation under occlusions and variable lighting. Direct Visual Servoing (DVS) is an interesting alternative to classical Position-Based Visual Servoing (PBVS) as it operates d
Achieving robust and reliable control in robotic systems is crucial, especially in presence of model uncertainties. Over the last years the notion of closed-loop sensitivity has emerged as an effective tool for analyzing and quantifying how uncertainties in the model parameters affect the closed-loo…
Achieving robust robot control requires explicit treatment of model uncertainties. Closed-loop sensitivity has emerged as a powerful tool to analyze how parameter errors map into state and input deviations through so-called “sensitivity tubes”, traditionally built from <italic xmlns:mml="http://www.
We propose an effective whole-body MPC controller for locomotion of humanoid robots. Our method generates motions using the full kinematics, allowing it to account for joint limits and to exploit upper-body motions to reject disturbances. Each MPC iteration solves a single QP that considers the inte…
In this letter, we detail a comprehensive framework for safe and robust planning for robots in presence of model uncertainties. Our framework is based on the recent notion of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">closed-loop state sensitivi
We present a whole-body control architecture for the generation of stable task-oriented motions in Wheeled Inverted Pendulum (WIP) robots. Controlling WIP systems is challenging because the successful execution of tasks is subordinate to the ability to maintain balance. Our feedback control approach…