6 accepted papers
MorphoBall is a bio-inspired, deformable spherical robot designed for multimodal locomotion across terrestrial and aquatic environments. By integrating a dual-mode drive system (spherical rolling and differential-drive) with a morphology-mediated propulsion mechanism, MorphoBall achieves adaptive mo…
This article presents a nonlinear estimator on matrix Lie group that performs a fast unscented transformation with natural evolution of sigma points from a geometric perspective. Different from the existing methods, the proposed method preserves the original dynamic equations on the manifold, which
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering the manifold constraint of the robot configuration. In this
The concept of path homotopy has received widely attention in the field of path planning in recent years. In this letter, a homotopy invariant based on convex dissection for a two-dimensional bounded Euclidean space is developed, which can efficiently encode all homotopy path classes between any two
This letter presents an approach to develop a variable impedance controller with considerations of the optimality and stability. Firstly, an original optimal variable law is designed via demonstration learning, through which the Gaussian mixture model/Gaussian mixture regression (GMM/GMR) algorithm
This paper proposes a quadratic programming (QP)-based variable impedance control (VIC) algorithm to solve contact-rich trajectory tracking problems with impedance, position and velocity constraints. To the best of our knowledge, the impedance constraints which are significant to ensure the worst co…