4 accepted papers
The design of control algorithms in a multi-coupling physical field is critical for advancing the application of integrated driving-and-sensing electromagnetic actuators. Accordingly, we propose a discrete fast terminal sliding mode control (FTSM) algorithm enhanced with a radial basis function neur
This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is to manipulate objects with unknown dynamics, which are difficult to infer from visual observation. To address this, we propose an adaptive dynamics mod
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning methods to handle due to difficulties in specifying contact mode sequences in real-time. To address this, we use a bi-lev
In this work, we present a control framework to effectively maneuver wheelchairs with a dynamically stable mobile manipulator. Wheelchairs are a type of nonholonomic cart system, maneuvering such systems with mobile manipulators (MM) is challenging mostly due to the following reasons: 1) These syste…