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检索条件"主题词=Optimization and Optimal Control"
486 条 记 录,以下是11-20 订阅
排序:
Bionic Jumping of Humanoid Robot via Online Centroid Trajectory optimization and High Dynamic Motion controller
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Journal of Bionic Engineering 2024年 第6期21卷 2759-2778页
作者: Xiangji Wang Wei Guo Zhicheng He Rongchao Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Faculty of Computing Harbin Institute of Technology(HIT)Harbin150001China
The dynamic motion capability of humanoid robots is a key indicator for evaluating their ***,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unst... 详细信息
来源: 评论
A stable method for task priority adaptation in quadratic programming via reinforcement learning
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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2025年 91卷
作者: Testa, Andrea Laghi, Marco Del Bianco, Edoardo Raiola, Gennaro Hoffman, Enrico Mingo Ajoudani, Arash Leonardo SpA Via Raffaele Pieragostini 80 I-16149 Genoa Italy Ist Italiano Tecnol IIT Via San Quir 19D I-16163 Genoa Italy Univ Trento DISI Via Sommar 9 I-38123 Povo Italy Univ Lorraine CNRS INRIA LORIA F-54000 Nancy France
In emerging manufacturing facilities, robots must enhance their flexibility. They are expected to perform complex jobs, showing different behaviors on the need, all within unstructured environments, and without requir... 详细信息
来源: 评论
Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第4期10卷 3150-3157页
作者: Kim, Hajun Kang, Dongyun Kim, Min-Gyu Kim, Gijeong Park, Hae-Won Korea Adv Inst Sci & Technol Sch Mech Aerosp & Syst Engn Humanoid Robot Res Ctr Dept Mech Engn Daejeon 34141 South Korea
This letter proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and ... 详细信息
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Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第5期10卷 4730-4737页
作者: Martinez, Sergi Griffin, Robert Mastalli, Carlos Heriot Watt Univ Robot Motor Intelligence RoMI Lab Edinburgh EH14 4AS Scotland Florida Inst Human & Machine Cognit IHMC Robot Pensacola FL 32502 USA
optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve... 详细信息
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From Instantaneous to Predictive control: A More Intuitive and Tunable MPC Formulation for Robot Manipulators
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第1期10卷 748-755页
作者: Ubbink, Johan Viljoen, Ruan Aertbelien, Erwin Decre, Wilm De Schutter, Joris KU Leuven & Flanders MakeKU Leuven Dept Mech Engn B-3001 Leuven Belgium
Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. However, tuning these controllers rema... 详细信息
来源: 评论
Decentralized Density control of Multi-Robot Systems Using PDE-Constrained optimization
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第4期10卷 4045-4052页
作者: Niu, Longchen Notomista, Gennaro Univ Waterloo Dept Elect & Comp Engn Waterloo ON N2L 3G1 Canada
In this letter, we propose a decentralized optimal density control strategy for multi-robot systems modeled as interacting Brownian particles. The robots' density dynamics are described by the Fokker-Planck equati... 详细信息
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Nonlinear Model Predictive control for Robotic Pushing of Planar Objects With Generic Shape
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第3期10卷 3006-3013页
作者: Federico, Sara Costanzo, Marco De Simone, Marco Natale, Ciro Univ Campania Luigi Vanvitelli Dipartimento Ingn I-81031 Aversa Italy
Robotic manipulation of objects in cluttered dynamic scenes is challenging for a twofold reason. Object detection and localization are complex due to partial occlusions and high variability in the object classes and m... 详细信息
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Autonomous Tail-Sitter Flights in Unknown Environments
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IEEE TRANSACTIONS ON ROBOTICS 2025年 41卷 1098-1117页
作者: Lu, Guozheng Ren, Yunfan Zhu, Fangcheng Li, Haotian Xue, Ruize Cai, Yixi Lyu, Ximin Zhang, Fu Univ Hong Kong Dept Mech Engn Hong Kong Peoples R China Sun Yat Sen Univ Sch Intelligent Syst Engn Shenzhen 510275 Peoples R China
Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In this article, we introduce, to the best ... 详细信息
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ASAP-MPC: an asynchronous update scheme for online motion planning with nonlinear model predictive control
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AUTONOMOUS ROBOTS 2025年 第1期49卷 1-17页
作者: Dirckx, Dries Bos, Mathias Vandewal, Bastiaan Vanroye, Lander Swevers, Jan Decre, Wilm Katholieke Univ Leuven Dept Mech Engn MECO Res Team Celestijnenlaan 300 B-3001 Leuven Belgium
This paper presents a Nonlinear Model Predictive control (NMPC) update scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requi... 详细信息
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Sampling-Based Model Predictive control Leveraging Parallelizable Physics Simulations
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第3期10卷 2750-2757页
作者: Pezzato, Corrado Salmi, Chadi Trevisan, Elia Spahn, Max Alonso-Mora, Javier Corbato, Carlos Hernandez Delft Univ Technol Cognit Robot Dept NL-2628 CD Delft Netherlands
We present a sampling-based model predictive control method that uses a generic physics simulator as the dynamical model. In particular, we propose a Model Predictive Path Integral controller (MPPI) that employs the G... 详细信息
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