Lecture 7: Constrained Optimization Lecture 8: Optimization-based Control: Collocation, Shooting, MPC (basics/foundations) Lecture 9: Optimization-based Control: Collocation, Shooting, MPC, Contact-Invariant Optimization (advanced) -- Igor Mordatch Lecture 10: Motion Planning: RRT, PRM, Trajopt, 3-...
We investigate the control and optimization of robots with ultracapacitor based regenerative drive systems. A subset of the robot joints are conventional, in the sense that external power is used for actuation. Other joints are energetically self-contained passive systems that use ultracapacitors for ...
A C++ implementation of Fastron based on the paper "Learning-Based Proxy Collision Detection for Robot Motion Planning Applications". C++ 53 7 diffco Public differentiable proxy collision checking for robot trajectory optimization. Jupyter Notebook 45 5 mpnet_local_planner Public A ROS librar...
Additive-manufacturing technologies are used to produce parts, which an advanced robot then picks up and moves. Because the robot’s path of movement is based solely on the relevant data models of products, processes, and equipment, there is no need for manual intervention. In the near ter...
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One is the collaboration between Tencent and a leading online travel company, where we created a robot customer service based on the "Cultural Tourism Large Model." By refining the model using industry-specific large models and incorporating enterprise data, the customer service robot delivers accurat...
distances and height of the robot body to the ground as well as four Force Sensing Resistors (FSRs) to recognize the contact forces between the feet and ground. The forces on the FSRs were reflected via the real-time electric resistances. The robot was manipulated via two-level control, whic...
These constraints are the velocity, acceleration and jerk limits of the robot joints, and the velocity and acceleration limits of the tool in the cartesian space, as they are related to the cutting force and the modal excitation of the robot. The speed optimization is done in the cartesian ...
A framework and method for Human-Robot cooperative safe control based on digital twin Hao Li, Wenfeng Ma, Haoqi Wang, Gen Liu, ... Chunya Sun Article 101701 Article preview select article Detection and location of unsafe behaviour in digital images: A visual grounding approach Research articleAb...
MSP-driven bionic soft robots operate based on the utilization of external magnetic fields to control the motion and deformation of the robot, as shown in Fig.5. These robots integrate iron magnetic particles and soft materials into their structure. Application of an external magnetic field activate...