Michael Mistry

収録論文 37本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 暗黙的接触微分による残差MPCの軌道最適化の償却
  軌道最適化/接触/MPC2026/7/1

  接触を伴う軌道最適化のための効率的な微分法を提案し、さらに残差MPCを短いホライズンのiLQRで補完するポリシーを蒸留する手法を導入した。

• 固有感覚型水中ソフト可変翼における外乱オブザーバによる流れ推定と外乱抑制
  ソフトロボティクス/外乱オブザーバ2026/2/1

  ヒレの湾曲を固有感覚として読み取り、外乱オブザーバで流れの迎角変動を推定し、ソフト翼の揚力応答の外乱を抑制する制御手法を提案・実験検証した。

• 特権行動を活用した長期的ロボットマニピュレーションスキルの学習
  マニピュレーション2025/2/1

  シミュレーションで制約緩和や仮想力を用いた特権行動とカリキュラム学習を組み合わせ、報酬設計や参照軌道に頼らずに長期的な接触を伴うマニピュレーションスキルを効率的に獲得し、実機へ転移できることを示した。

• Neural Lyapunov and Optimal Control
  2023/5/1
• Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
  2022/6/1
• Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control
  2022/6/1
• Efficient Learning of Inverse Dynamics Models for Adaptive Computed Torque Control
  2022/5/1
• Agile Maneuvers in Legged Robots: a Predictive Control Approach
  2022/3/1
• What Robot do I Need? Fast Co-Adaptation of Morphology and Control using Graph Neural Networks
  2021/11/1
• Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation
  2021/9/1
• A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
  2021/9/1
• Optimal Control via Combined Inference and Numerical Optimization
  2021/9/1
• Fine Manipulation and Dynamic Interaction in Haptic Teleoperation
  2021/9/1
• Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control
  2021/8/1
• Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators
  2021/7/1
• HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
  2021/6/1
• Exploiting Spherical Projections To Generate Human-Like Wrist Pointing Movements
  2021/3/1
• Theoretical Evidence Supporting Harmonic Reaching Trajectories
  2020/12/1
• Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing
  2020/11/1
• A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
  2020/11/1
• Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion
  2020/10/1
• Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
  2020/8/1
• Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
  2020/4/1
• Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
  2020/3/1
• Contact Surface Estimation via Haptic Perception
  2020/3/1
• Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
  2020/3/1
• Adversarial Generation of Informative Trajectories for Dynamics System Identification
  2020/3/1
• Safe and Compliant Control of Redundant Robots Using Superimposition of Passive Task-Space Controllers
  2020/2/1
• Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
  2019/12/1
• Fractal Impedance for Passive Controllers: A Framework for Interaction Robotics
  2019/11/1
• Online Simultaneous Semi-Parametric Dynamics Model Learning
  2019/10/1
• Learning Generalisable Coupling Terms for Obstacle Avoidance via Low-dimensional Geometric Descriptors
  2019/6/1
• Learning and Composing Primitive Skills for Dual-arm Manipulation
  2019/5/1
• Learning and Generalisation of Primitives Skills Towards Robust Dual-arm Manipulation
  2019/4/1
• Analytic Model for Quadruped Locomotion Task-Space Planning
  2019/2/1
• Uncertainty Averse Pushing with Model Predictive Path Integral Control
  2017/10/1
• A Projected Inverse Dynamics Approach for Dual-arm Cartesian Impedance Control
  2017/7/1