Zobrazeno 1 - 10
of 17
pro vyhledávání: '"Hrishik Mishra"'
Autor:
Michael Rothammer, Andre Coelho, Hrishik Mishra, Christian Ott, Antonio Franchi, Alin Albu-Schaeffer
Publikováno v:
IEEE Control Systems Letters. 7:163-168
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c235e0ed4aa20208a328b190222a304a
https://doi.org/10.1109/lcsys.2022.3187349
https://doi.org/10.1109/lcsys.2022.3187349
Publikováno v:
Journal of Guidance, Control, and Dynamics. 44:1777-1793
The task of approaching and capturing a free-tumbling satellite on-orbit presents open challenges for autonomous guidance and control strategies. One of these is to robustly predict the satellite’s...
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b996d093cc9886268944e9a427dff908
https://doi.org/10.2514/1.g005745
https://doi.org/10.2514/1.g005745
Publikováno v:
IEEE Robotics and Automation Letters. 6:7317-7324
In this letter, a novel partitioned shared controller is proposed, which exploits a fully-actuated orbital robot to perform a primary end-effector task involving environmental interactions. This task is remotely performed using a bilateral teleoperat
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::552ac08f59312573372da9aebaaa040c
https://doi.org/10.1109/lra.2021.3097509
https://doi.org/10.1109/lra.2021.3097509
Autor:
Coelho, Andre, Albu-Schäffer, Alin, Sachtler, Arne, Hrishik, Mishra, Bicego, Davide, Ott, Christian, Franchi, Antonio
This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigen
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bee5535f78f429f72b650bf7d83d3d97
https://mediatum.ub.tum.de/doc/1703125/document.pdf
https://mediatum.ub.tum.de/doc/1703125/document.pdf
Publikováno v:
ICRA
Multi-agent control of a robot using multiple controllers is vital in domains like shared control and reliable control. The strategy of assigning a varying priority (authority) to each agent controller, and commanding the robot using an authority-wei
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e36159fa8279b591f3d9f9b1d6307d5f
https://doi.org/10.1109/icra48506.2021.9561192
https://doi.org/10.1109/icra48506.2021.9561192
Autor:
Harsimran Singh, Antonio Franchi, Alexander Dietrich, Xuwei Wu, Christian Ott, Andre Coelho, Konstantin Kondak, Yuri S. Sarkisov, Hrishik Mishra
This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-bo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2d240dbd94bc7499149599d76b376c62
https://doi.org/10.1007/s10846-021-01365-7
https://doi.org/10.1007/s10846-021-01365-7
Publikováno v:
IROS
In this paper, we propose three novel Hardware-in-the-loop simulation (HLS) methods for a fully-actuated orbital robot in the presence of external interactions using On-Ground Facility Manipulators (OGFM). In particular, a fixed-base and a vehicle-dr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b5eb0543ace1290b80ac903dad11829a
https://doi.org/10.1109/iros45743.2020.9341633
https://doi.org/10.1109/iros45743.2020.9341633
Publikováno v:
CDC
In this paper, we propose a novel controller to stabilize the shape (joints) of an orbital robot about a setpoint, i.e. a regulation task, in the specific setting that its spacecraft velocity is unmeasured. For this output feedback stabilization prob
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::82fcd858596d457b3f9c819e41ae623f
https://elib.dlr.de/192902/
https://elib.dlr.de/192902/