no code implementations • 7 Nov 2023 • Bing Song, Jean-Jacques Slotine, Quang-Cuong Pham
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.
no code implementations • 31 Jan 2023 • Shilin Shan, Quang-Cuong Pham
Force Sensing and Force Control are essential to many industrial applications.
no code implementations • 11 Mar 2020 • Huy Nguyen, Nicholas Adrian, Joyce Lim Xin Yan, Jonathan M. Salfity, William Allen, Quang-Cuong Pham
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
no code implementations • 29 Dec 2018 • Zhongang Cai, Cunjun Yu, Quang-Cuong Pham
The conventional pose estimation of a 3D object usually requires the knowledge of the 3D model of the object.
2 code implementations • 12 Oct 2015 • Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
We show that, in the LPM, having the ZMP in the pendular support area is a necessary and sufficient condition for contact stability.
Robotics
1 code implementation • 20 Jan 2015 • Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
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