Visibility Maximization Controller for Robotic Manipulation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3188430
Abstract: Occlusions caused by a robot’s own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired goal pose.… read more here.
Keywords: robotic manipulation; controller; visibility maximization; controller robotic ... See more keywords
A Switched Adaptive Controller for Robotic Gripping of Novel Objects With Minimal Force
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2022.3171655
Abstract: We present the design and implementation of an algorithm, equipped with a switched adaptive controller, for grasping unknown objects using a robot gripper. A Lyapunov-based analysis demonstrates that the switching controller is indeed asymptotically stable… read more here.
Keywords: switched adaptive; controller robotic; adaptive controller; minimal force ... See more keywords