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09/23/2022
Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
This paper proposes a real-time model predictive control (MPC) scheme to...
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10/20/2021
ReachBot: A Small Robot for Large Mobile Manipulation Tasks
Robots are widely deployed in space environments because of their versat...
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01/05/2021
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems
Despite decades of work in fast reactive planning and control, challenge...
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05/18/2019
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
Sequential Convex Programming (SCP) has recently gained popularity as a ...
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03/01/2019