Zobrazeno 1 - 10
of 291
pro vyhledávání: '"Aaron D. Ames"'
Publikováno v:
IEEE Open Journal of Control Systems, Vol 3, Pp 225-238 (2024)
This paper formally develops robust optimal predictive control solutions that can accommodate disturbances and stabilize periodic legged locomotion. To this end, we build upon existing optimization-based control paradigms, particularly quadratic prog
Externí odkaz:
https://doaj.org/article/b6c0b9bc9246411c9e69621d8fa9ad80
Publikováno v:
IEEE Access, Vol 11, Pp 128369-128382 (2023)
This work aims to provide a computationally effective and distributed trajectory planner at the intersection of physics-based and data-driven techniques for the collaborative locomotion of holonomically constrained quadrupedal robots that can account
Externí odkaz:
https://doaj.org/article/66de8c7511324c0886b11abf08ba81e3
Publikováno v:
IEEE Access, Vol 8, Pp 187249-187275 (2020)
There are two main approaches to safety-critical control. The first one relies on computation of control invariant sets and is presented in the first part of this work. The second approach draws from the topic of optimal control and relies on the abi
Externí odkaz:
https://doaj.org/article/5cd11f0ddc8b4f6a9ebf14c88d4d727e
Publikováno v:
IEEE Access, Vol 8, Pp 188454-188474 (2020)
The world has recently undergone the most ambitious mitigation effort in a century, consisting of wide-spread quarantines aimed at preventing the spread of COVID-19. The use of influential epidemiological models of COVID-19 helped to encourage decisi
Externí odkaz:
https://doaj.org/article/7f39da45e54244d888e43bd0ff55c60b
Autor:
Vaiyee Huynh, Guillaume Burger, Quoc Viet Dang, Raphaël Pelgé, Guilhem Boéris, Jessy W. Grizzle, Aaron D. Ames, Matthieu Masselin
Publikováno v:
Frontiers in Robotics and AI, Vol 8 (2021)
Lower-limb exoskeletons are a promising option to increase the mobility of persons with leg impairments in a near future. However, it is still challenging for them to ensure the necessary stability and agility to face obstacles, particularly the vari
Externí odkaz:
https://doaj.org/article/64f6d5bed4f142f09c0716fae03f64f6
Autor:
Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
Publikováno v:
IEEE Access, Vol 5, Pp 9919-9934 (2017)
This paper presents preliminary results toward translating gait and control design for bipedal robots to decentralized control of an exoskeleton aimed at restoring mobility to patients with lower limb paralysis, without the need for crutches. A mathe
Externí odkaz:
https://doaj.org/article/593dc29bea6c40a5ad0581ce97b81709
Publikováno v:
IEEE Access, Vol 3, Pp 323-332 (2015)
This paper presents a novel method to address the actuator saturation for nonlinear hybrid systems by directly incorporating user-defined input bounds in a controller design. In particular, we consider the application of bipedal walking and show that
Externí odkaz:
https://doaj.org/article/8767b9b3125c4934ba5325902a93abc0
Publikováno v:
Annual Reviews in Control. 55:142-164
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c64bc269a7301130e402c2109977d14a
https://doi.org/10.1016/j.arcontrol.2023.03.003
https://doi.org/10.1016/j.arcontrol.2023.03.003
Publikováno v:
IEEE Robotics and Automation Letters. 7:10954-10961
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In this work, w
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fa2cb25b4783826fb1078cbd6f8275bb
https://doi.org/10.1109/lra.2022.3192634
https://doi.org/10.1109/lra.2022.3192634
Publikováno v:
International Journal of Adaptive Control and Signal Processing. 36:2537-2561
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::bcdd442de21fa33b25fea5e80bc9a5ac
https://doi.org/10.1002/acs.3470
https://doi.org/10.1002/acs.3470