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Found 6 papers, 2 papers with code
Stable Modular Control via Contraction Theory for Reinforcement Learning
We propose a novel way to integrate control techniques with reinforcement learning (RL) for stability, robustness, and generalization: leveraging contraction theory to realize modularity in neural control, which ensures that combining stable subsystems can automatically preserve the stability.
Fine Robotic Manipulation without Force/Torque Sensor
Force Sensing and Force Control are essential to many industrial applications.
Development of a Robotic System for Automated Decaking of 3D-Printed Parts
With the rapid rise of 3D-printing as a competitive mass manufacturing method, manual "decaking" - i. e. removing the residual powder that sticks to a 3D-printed part - has become a significant bottleneck.
Robotics
3D Convolution on RGB-D Point Clouds for Accurate Model-free Object Pose Estimation
The conventional pose estimation of a 3D object usually requires the knowledge of the 3D model of the object.
ZMP support areas for multi-contact mobility under frictional constraints
We show that, in the LPM, having the ZMP in the pendular support area is a necessary and sufficient condition for contact stability.
Robotics
Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas
Here we argue that the CWC can be explicitly computed without reference to individual contact forces, and give closed-form formulae in the case of rectangular surfaces -- which is of practical importance.
Robotics
