3 accepted papers
In this paper, we present a novel online global reactive motion planner that synergizes the benefits of reactive control and model predictive control (MPC). By applying circular fields, the planner significantly simplifies the problem of determining control inputs for mobile robots and manipulators,
Safe and efficient trajectory planning for autonomous robots is becoming increasingly important in both industrial applications and everyday life. The demands on a robot which has to react quickly and precisely to changes in cluttered, unknown and dynamic environments are particularly high. Towards
This letter presents a novel joint torque-based impedance controller for antagonistically driven flexible joints actuated by pneumatic cylinders and compares it with the current state of the art. The work targets on transferring soft-robotics control concepts from classical motor-gear-torque sensor