On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3126899
Abstract: We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the… read more here.
Keywords: uncertain dynamics; control; underactuated robots; robots uncertain ... See more keywords
Unactuated and Actuated States Simultaneously Constrained Optimal Trajectory Planning-Based Path-Following Control for Underactuated Robots
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Cybernetics"
DOI: 10.1109/tcyb.2024.3361880
Abstract: For underactuated robots working in complex environments, an important objective is to drive all variables (particularly for unactuated end-effectors) to move along the specific path and restrict positions/velocities to avoid obstacles, rather than using only… read more here.
Keywords: optimal trajectory; underactuated robots; control; path following ... See more keywords