Hybrid Motion-Force Manipulation for Generic Peg-in-Hole
Oct 21, 2023
Demo 1: Automate 2022 trade show video illustrating peg-in-hole via hybrid motion-force control Demo 2: ATX WEST 2023 trade show video with peg-in-hole strategies used in tool changing and engine assembly Demo...
Exponential and Logarithm in SO(3), SE(3), Quaternion Space
Oct 14, 2023
Motivation $SO(3)$, $SE(3)$, and quaternion logarithm and exponential are mathematical operations that can facilitate the computation and representation of rigid body motion. Post Rigid Body Motion, Concepts and Terminologies discussed matrix exponential...
Image-Based Visual Servo, Motion-Force, Cartesian Impedance Control
Oct 8, 2023
Demo 1: Flexible printed circuit assembly using IBVS, motion-force, impedance control Demo 2: Visual servo scheme comparison - Image-Based Visual Servo (IBVS) Demo 3: Visual servo scheme comparison - IBVS with pattern...
Yosemite Hetch Hetchy Wawoma
Oct 7, 2023
Upper Yosemite Falls, Hetch Hetchy Valley, Wawoma Point. Exhausted but fulfilled.
Analytical Whole Body Control, Prioritized Recursive Nullspace
Oct 2, 2023
Motivation A robot can have more degrees-of-freedom (DOF) than the DOF needed to accomplish a certain task. In that case, one may want a controller that (1) guarantees that robot utilizes its...