Impedance Controller Design and Robustness Analysis
Jan 3, 2024
Motivation Impedance controllers are commonly employed to control robotic systems. They typically transform the controlled system dynamics into a standard second order mass-spring-damper system, in which the proportional and derivative control gains...
System · Tmux via Bash
Dec 31, 2023
Some brief notes for quick reference. Session with multiple panes and commands.
Reactive Mobile Manipulation via Quadratic Programming
Dec 17, 2023
Preface Authors in 2020@Haviland , 2021@Haviland , and 2022@Haviland outlined a method for Reactive Mobile Manipulation of wheeled robots via quadratic programming. It is designed to (1) allow the robot end-effector to...
Two Beautiful Little Piano Pieces
Dec 16, 2023
"Playing Love" from Legend of 1900 - a little jazz blended with classical. "Chopin" from Carnaval Op.9 No.12 by Schumann - what Schumann thinks of Chopin, sounds heavenly.