kinova_robust_control

Robust Tracking Controller Under Model Uncertainties

This repository hosts C++ implementation of the robust controller introduced in ARMOUR on Kinova-gen3 hardware. This repository not only integrates the default position control from Kinova, but also implements torque control for tracking a series of continuous trajectories robustly under model uncertainties.

Links

Paper

Codebase

Examples

Developers

Bohao Zhang¹

Jonathan Michaux¹

Patrick Holmes²

Che Chen¹

Zichang Zhou¹

Ram Vasudevan¹

¹ Robotics Institute, University of Michigan, Ann Arbor ² Figure AI

This work is developed under RoahmLab.

BibTeX

@article{michaux2023can,
	title={Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty},
	author={Michaux, Jonathan and Holmes, Patrick and Zhang, Bohao and Chen, Che and Wang, Baiyue and Sahgal, Shrey and Zhang, Tiancheng and Dey, Sidhartha and Kousik, Shreyas and Vasudevan, Ram},
	journal={arXiv preprint arXiv:2301.13308},
	year={2023}
}
					    	

Contact

We are actively developing the codebase and appreciate any feedback!
If you have any questions about the paper, please feel free to contact Bohao Zhang.
If you have any questions about the code and would like to report any bugs or problems, please raise a new issue in the Issues page. We will try to respond to it as soon as possible.
If you would like to request any related new features and have suggestions on how to improve the performance, please raise a new discussion in the Discussions page.

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