Imagen de Portada

Optimal Control and Structurally-Informed Gradient Optimization of a Custom 4-DOF Rigid-Body Manipulator

Fuente: arXiv

Guardado en:

Detalles Bibliográficos
Autores principales:	Marcinczyk, Brock, Beaver, Logan E.
Formato:	Preprint
Publicado:	2025
Materias:	Robotics
Acceso en línea:	Acceder al recurso
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

Ejemplares similares

Wrench-Aware Admittance Control for Unknown-Payload Manipulation
por: Gholampour, Hossein, et al.
Publicado: (2026)

Mass-Adaptive Admittance Control for Robotic Manipulators
por: Gholampour, Hossein, et al.
Publicado: (2025)

Multi-Robot Task Allocation using Global Games with Negative Feedback: The Colony Maintenance Problem
por: Beaver, Logan E.
Publicado: (2024)

A Long-Duration Autonomy Approach to Connected and Automated Vehicles
por: Beaver, Logan E.
Publicado: (2024)

A Global Games-Inspired Approach to Multi-Robot Task Allocation for Heterogeneous Teams
por: Beaver, Logan
Publicado: (2025)

Trajectory Tracking with Reachability-Guided Quadratic Programming and Freeze-Resume
por: Gholampour, Hossein, et al.
Publicado: (2025)

Reachability-Aware Time Scaling for Path Tracking
por: Gholampour, Hossein, et al.
Publicado: (2026)

Embodied Neuromorphic Control Applied on a 7-DOF Robotic Manipulator
por: Wang, Ziqi, et al.
Publicado: (2025)

Optimal Thruster Configuration for 6-DOF Control of a Small Satellite
por: Sato, Suguru, et al.
Publicado: (2026)

No Plan but Everything Under Control: Robustly Solving Sequential Tasks with Dynamically Composed Gradient Descent
por: Mengers, Vito, et al.
Publicado: (2025)

In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper
por: Zhou, Yuhao, et al.
Publicado: (2024)

A Unified Complementarity-based Approach for Rigid-Body Manipulation and Motion Prediction
por: Huang, Bingkun, et al.
Publicado: (2026)

Optimal Control Barrier Functions: Maximizing the Action Space Subject to Control Bounds
por: Beaver, Logan E.
Publicado: (2024)

LQ-OCP: Energy-Optimal Control for LQ Problems
por: Beaver, Logan E.
Publicado: (2023)

From a Single Demonstration to a General Policy for Contact-Rich Manipulation
por: Li, Xing, et al.
Publicado: (2026)

On the Certification of the Kinematics of 3-DOF Spherical Parallel Manipulators
por: Lê, Alexandre, et al.
Publicado: (2024)

Adaptive Task Space Non-Singular Terminal Super-Twisting Sliding Mode Control of a 7-DOF Robotic Manipulator
por: Wan, L., et al.
Publicado: (2025)

Implicit Physics-aware Policy for Dynamic Manipulation of Rigid Objects via Soft Body Tools
por: Wang, Zixing, et al.
Publicado: (2025)

Behavior Cloning of MPC for 3-DOF Robotic Manipulators
por: Guegan, Theo, et al.
Publicado: (2026)

Adaptive‐Based Non‐Singular Terminal Sliding Mode Control of a Three DOF Spatial Robotic Manipulator
por: Keyou Guo, et al.
Publicado: (2025)

Model Predictive Control for Magnetically-Actuated Cellbots
por: Kermanshah, Mehdi, et al.
Publicado: (2024)

Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
por: Patterson, Zach J., et al.
Publicado: (2024)

Lie-algebra Adaptive Tracking Control for Rigid Body Dynamics
por: Tang, Jiawei, et al.
Publicado: (2025)

Model-based Optimal Control for Rigid-Soft Underactuated Systems
por: Caradonna, Daniele, et al.
Publicado: (2026)

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
por: Teng, Sangli, et al.
Publicado: (2025)

Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
por: Leve, Victor, et al.
Publicado: (2024)

Position-Based Flocking for Persistent Alignment without Velocity Sensing
por: Jond, Hossein B., et al.
Publicado: (2026)

Optimal Whole Body Trajectory Planning for Mobile Manipulators in Planetary Exploration and Construction
por: Storiale, Federica, et al.
Publicado: (2024)

Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game
por: Beaver, Logan
Publicado: (2024)

Banking Turn of High-DOF Dynamic Morphing Wing Flight by Shifting Structure Response Using Optimization
por: Gupta, Bibek, et al.
Publicado: (2024)

Flatness-based Finite-Horizon Multi-UAV Formation Trajectory Planning and Directionally Aware Collision Avoidance Tracking
por: Jond, Hossein B., et al.
Publicado: (2025)

On Enhancing Structural Resilience of Multirobot Coverage Control with Bearing Rigidity
por: Pant, Kartik A., et al.
Publicado: (2025)

Safe Expeditious Whole-Body Control of Mobile Manipulators for Collision Avoidance
por: Chen, Bingjie, et al.
Publicado: (2024)

Design and Characterization of a Dual-DOF Soft Shoulder Exosuit with Volume-Optimized Pneumatic Actuator
por: Chen, Rui, et al.
Publicado: (2026)

Geometric Algebra for Optimal Control with Applications in Manipulation Tasks
por: Löw, Tobias, et al.
Publicado: (2022)

Inertial Line-Of-Sight Stabilization Using a 3-DOF Spherical Parallel Manipulator with Coaxial Input Shafts
por: Le, Alexandre, et al.
Publicado: (2023)

Active Tactile Exploration for Rigid Body Pose and Shape Estimation
por: Gordon, Ethan K., et al.
Publicado: (2025)

Comparison and Evaluation of Different Simulation Environments for Rigid Body Systems
por: Shao, Longxiang, et al.
Publicado: (2025)

Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
por: Abderezaei, Ava, et al.
Publicado: (2026)

Real-World Fluid Directed Rigid Body Control via Deep Reinforcement Learning
por: Bhardwaj, Mohak, et al.
Publicado: (2024)