We introduce methods for optimizing physics-based walking controllers for robustness to uncertainty. Many unknown factors, such as external forces, control torques, and user contr...
In this work we present a methodology for intelligent path planning in an uncertain environment using vision like sensors, i.e., sensors that allow the sensing of the environment ...
Abstract— For robotic manipulation tasks in uncertain environments, good force control can provide significant benefits. The design of force-controlled actuators typically revo...
- Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optim...
Real life optimization problems often require finding optimal solution to complex high dimensional, multimodal problems involving computationally very expensive fitness function e...