A visibility-aware mobile grasping system with iterative whole-body planning and behavior-tree subgoal generation achieves 68.8% success in unknown static and 58% in dynamic environments, outperforming a baseline by 22.8% and 18%.
The design of stretch: A compact, lightweight mobile manipulator for indoor human environments
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FlexiTac is a scalable piezoresistive tactile sensing system with flexible FPC-Velostat-FPC pads and a 100 Hz multi-channel readout board that mounts on rigid or soft grippers and supports visuo-tactile learning.
Episode-wise relative proprioceptive encoding outperforms absolute state baselines for robust robotic manipulation under varying reference frames.
Koopman models identified via meta-heuristic EDMD from engine simulations enable an adaptive MPC with disturbance observer and a feedback linearization controller that achieve comparable steady-state performance with the adaptive version showing superior robustness under varying conditions.
citing papers explorer
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Visibility-Aware Mobile Grasping in Dynamic Environments
A visibility-aware mobile grasping system with iterative whole-body planning and behavior-tree subgoal generation achieves 68.8% success in unknown static and 58% in dynamic environments, outperforming a baseline by 22.8% and 18%.
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FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems
FlexiTac is a scalable piezoresistive tactile sensing system with flexible FPC-Velostat-FPC pads and a 100 Hz multi-channel readout board that mounts on rigid or soft grippers and supports visuo-tactile learning.
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When Absolute State Fails: Evaluating Proprioceptive Encodings for Robust Manipulation
Episode-wise relative proprioceptive encoding outperforms absolute state baselines for robust robotic manipulation under varying reference frames.
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Koopman-Based Nonlinear Identification and Adaptive Control of a Turbofan Engine
Koopman models identified via meta-heuristic EDMD from engine simulations enable an adaptive MPC with disturbance observer and a feedback linearization controller that achieve comparable steady-state performance with the adaptive version showing superior robustness under varying conditions.