Zobrazeno 1 - 10
of 295
pro vyhledávání: '"Burdick, Joel W."'
Autor:
Akella, Prithvi, Dixit, Anushri, Ahmadi, Mohamadreza, Lindemann, Lars, Chapman, Margaret P., Pappas, George J., Ames, Aaron D., Burdick, Joel W.
The need for a systematic approach to risk assessment has increased in recent years due to the ubiquity of autonomous systems that alter our day-to-day experiences and their need for safety, e.g., for self-driving vehicles, mobile service robots, and
Externí odkaz:
http://arxiv.org/abs/2403.18972
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the lens of CBFs
Externí odkaz:
http://arxiv.org/abs/2403.08916
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties. The foundat
Externí odkaz:
http://arxiv.org/abs/2403.03215
Autor:
Das, Ersin, Burdick, Joel W.
Model uncertainty poses a significant challenge to the implementation of safety-critical control systems. With this as motivation, this paper proposes a safe control design approach that guarantees the robustness of nonlinear feedback systems in the
Externí odkaz:
http://arxiv.org/abs/2401.01881
Autor:
Janwani, Neil C., Daş, Ersin, Touma, Thomas, Wei, Skylar X., Molnar, Tamas G., Burdick, Joel W.
Ensuring robot safety in complex environments is a difficult task due to actuation limits, such as torque bounds. This paper presents a safety-critical control framework that leverages learning-based switching between multiple backup controllers to f
Externí odkaz:
http://arxiv.org/abs/2310.05865
This paper, and its companion, propose a new fractal robotic gripper, drawing inspiration from the century-old Fractal Vise. The unusual synergistic properties allow it to passively conform to diverse objects using only one actuator. Designed to be e
Externí odkaz:
http://arxiv.org/abs/2309.08766
This paper proposes a safety controller for control-affine nonlinear systems with unmodelled dynamics and disturbances to improve closed-loop robustness. Uncertainty estimation-based control barrier functions (CBFs) are utilized to ensure robust safe
Externí odkaz:
http://arxiv.org/abs/2304.08538
Autor:
Daş, Ersin, Burdick, Joel W.
Future NASA lander missions to icy moons will require completely automated, accurate, and data efficient calibration methods for the robot manipulator arms that sample icy terrains in the lander's vicinity. To support this need, this paper presents a
Externí odkaz:
http://arxiv.org/abs/2303.03658
Autor:
Dixit, Anushri, Fan, David D., Otsu, Kyohei, Dey, Sharmita, Agha-Mohammadi, Ali-Akbar, Burdick, Joel W.
Publikováno v:
Field Robotics, 4, 2024, 182-210
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped wilderness, ca
Externí odkaz:
http://arxiv.org/abs/2303.01614
Many approaches to grasp synthesis optimize analytic quality metrics that measure grasp robustness based on finger placements and local surface geometry. However, generating feasible dexterous grasps by optimizing these metrics is slow, often taking
Externí odkaz:
http://arxiv.org/abs/2302.13687