Zobrazeno 1 - 10
of 210
pro vyhledávání: '"Xiong, Xiaogang"'
Admittance control is a commonly used strategy for regulating robotic systems, such as quadruped and humanoid robots, allowing them to respond compliantly to contact forces during interactions with their environments. However, it can lead to instabil
Externí odkaz:
http://arxiv.org/abs/2409.19275
High-dimensional robot dynamic trajectory planning poses many challenges for traditional planning algorithms. Existing planning methods suffer from issues such as long computation times, limited capacity to address intricate obstacle models, and lack
Externí odkaz:
http://arxiv.org/abs/2406.15806
Publikováno v:
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 727-734
Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped manipulator to t
Externí odkaz:
http://arxiv.org/abs/2307.08838
This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults and time-varying uncertainties. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent systems for
Externí odkaz:
http://arxiv.org/abs/2306.05187
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance control capabili
Externí odkaz:
http://arxiv.org/abs/2305.04031
Deemed as the third generation of neural networks, the event-driven Spiking Neural Networks(SNNs) combined with bio-plausible local learning rules make it promising to build low-power, neuromorphic hardware for SNNs. However, because of the non-linea
Externí odkaz:
http://arxiv.org/abs/2211.15386
Autor:
Singh, Sonali, Goyal, Jitendra Kumar, Sachan, Ankit, N., Amutha Prabha, Tiwari, Awaneendra Kumar, Kamal, Shyam, Ghosh, Sandip, Purwar, Shubhi, Xiong, Xiaogang
Publikováno v:
In Journal of Process Control September 2024 141
Autor:
Goyal, Jitendra Kumar, Sachan, Ankit, Prabha, N. Amutha, Kamal, Shyam, Chauhan, Avneet Kumar, Ghosh, Sandip, Bandyopadhyay, Bijnan, Xiong, Xiaogang
Publikováno v:
In Journal of Process Control November 2023 131
This paper proposes an efficient implementation for a continuous terminal algorithm (CTA). Although CTA is a continuous version of the famous twisting algorithm (TA), the conventional implementations of this CTA still suffer from chattering, especial
Externí odkaz:
http://arxiv.org/abs/1905.00707
This paper presents a dual stage EKF (Extended Kalman Filter)-based algorithm for the real-time and robust stereo VIO (visual inertial odometry). The first stage of this EKF-based algorithm performs the fusion of accelerometer and gyroscope while the
Externí odkaz:
http://arxiv.org/abs/1905.00684