2023
DOI: 10.48550/arxiv.2301.13308
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Abstract: A key challenge to the widespread deployment of robotic manipulators is the need to ensure safety in arbitrary environments while generating new motion plans in real-time. In particular, one must ensure that a manipulator does not collide with obstacles, collide with itself, or exceed its joint torque limits. This challenge is compounded by the need to account for uncertainty in the mass and inertia of manipulated objects, and potentially the robot itself. The present work addresses this challenge by proposing… Show more

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Cited by 2 publications
(6 citation statements)
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“…solve the family of d-degree SOS optimization problems given in Eq. (19). Now, it follows that if we show that…”
Section: Convergence Of Our Proposed Sos Programsmentioning
confidence: 85%
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“…solve the family of d-degree SOS optimization problems given in Eq. (19). Now, it follows that if we show that…”
Section: Convergence Of Our Proposed Sos Programsmentioning
confidence: 85%
“…( 19) it satisfies all of the constraints of Opt. (19). Since SOS polynomials are non-negative it then follows…”
Section: Convergence Of Our Proposed Sos Programsmentioning
confidence: 95%
See 3 more Smart Citations