We enable swift robot motion without fearing impacts with the environment. For instance in a box manipulation task, the robot does not need to stop or use close-to-zero velocity to establish contacts 
We provide the optimization-based robot control approach that enables a modular description of robotic tasks and a reactive solution in real-time. 
Published in 51st IEEE Conference on Decision and Control, 2012
We introduce a two step method that transforms the position-based visual servoing problem into a convex optimization problem with linear constraints.
Recommended citation: (2012). " A transformation of the position based visual servoing problem into a convex optimization problem " 51st IEEE Conference on Decision and Control. https://ieeexplore.ieee.org/document/6426022
Published in 19th IFAC World Congress, 2014
We proposed the quadratic programming approach for dual-arm manipulation tasks, i.e., a pan cleaning task performed with Schunk arms equiped with ATI force-torque sensor.
Recommended citation: (2014). " Dual Arm Manipulation using Constraint Based Programming" 19th IFAC World Congress. https://www.sciencedirect.com/science/article/pii/S1474667016416332
Published in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
We propose to use a Virtual Kinematic Chain (VKC) to specify the common motion of the parallel manipulators mounted on a mobile base, instead of commanding the two manipulators kinematics independently.
Recommended citation: (2015). " Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application" 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-179638
Published in International Journal of Humanoid Robotics, 2016
Optimization-based approach that enables a dual-arm mobile manipulator to comanipulate with an human operator.
Recommended citation: (2016). " Whole body control of a dual-arm mobile robot using a virtual kinematic chain" International Journal of Humanoid Robotics. http://www.csc.kth.se/~yuquan/paper/ijhrYuquan.pdf
Published in 2016 IEEE International Conference on Robotics and Automation, 2016
A quadratic programming approach to tele-operate a mobile robot.
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Published in IEEE-RAS International Conference on Humanoid Robots, 2018
We use the Bayesian Optimization procedure to regulate the soft task-priorities of a quadratic programming controller.
Recommended citation: (2018). "Sample-efficient learning of soft task priorities through bayesian optimization." IEEE-RAS International Conference on Humanoid Robots. https://ieeexplore.ieee.org/document/8624974
Published in Robotics: Science and Systems XV, 2019
We introduce the impact-awareness to the QP controller by including the gradient of impact-induced state jumps with respect to the QP decision variables.
Recommended citation: Yuquan Wang AND Abderrahmane Kheddar. (2019). "Impact-Friendly Robust Control Design with Task-Space Quadratic Optimization. " Robotics: Science and Systems XV. http://www.roboticsproceedings.org/rss15/p32.html
Published in Robotics and Computer Integrated Manufacturing, 2019
We achieved whole-body collision avoidance with quadratic-programming with soft and strict task priorities.
Recommended citation: Wang, Yuquan and Wang, Lihui (2019). " Whole-body collision avoidance control design using quadratic programming with strict and soft task priorities. " Robotics and Computer Integrated Manufacturing . https://www.sciencedirect.com/science/article/pii/S0736584518303405
Published in IEEE-RAS International Conference on Humanoid Robots, 2019
We present our initial efforts to apply impact-aware constraints for a floating-base robot.
Recommended citation: Wang, Yuquan and Tanguy, Arnaud and Gergondet, Pierre and Kheddar, Abderrahmane. (2019). "Impact-aware humanoid robot motion generation with a quadratic optimization controller. " IEEE-RAS International Conference on Humanoid Robots. https://arxiv.org/abs/2001.08454
Published in IEEE Robotics and Automation Letters, 2022
Evaluating the force measurements from 150 impact experiments, the best model-to-data matching suggests a viscoelastic contact-force model and computing the inverse inertia matrix (impulse-to velocity mapping) assuming the robot is a composite-rigid body
Recommended citation: Y. Wang, N. Dehio, and A. Kheddar, “On inverse inertia matrix and contact-force model for robotic manipulators at normal impacts,” IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3648–3655, 2022. https://arxiv.org/abs/2109.04756
Published in IEEE Robotics and Automation Letters, 2022
Recommended citation: Dehio N, Wang Y and Kheddar A (2022) Dual-arm box grabbing with impact-aware model predictive control utilizing soft deformable end-effector pads. IEEE Robotics and Automation Letters 7(2): 5647–5654. https://hal.science/hal-03602884/document
Published in IEEE Robotics and Automation Letters, 2022
Recommended citation: Y. Wang, N. Dehio, and A. Kheddar, “Predicting post-impact joint velocity jumps on kinematics controlled manipulators,” IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6226 – 6233, 2022. https://arxiv.org/pdf/2202.12646.pdf
Published in International Journal of Robotics Research, 2023
We summarize the impact-aware constraints formulation of the model-based quadratic-programming controller. The impact-awareness enables online filtering of the reference contact velocities such that all the constraints are respected despite the impact
Recommended citation: Wang, Y., Dehio, N., Tanguy, A., & Kheddar, A. (2023). "Impact-Aware Task-Space Quadratic-Programming Control. " International Journal of Robotics Research . https://arxiv.org/abs/2006.01987
Published:
Constraint-based programming is a modular approach to describe a complex task. We proposed to simultaneously minimize the error dynamics of each constraint by solving a quadratic optimization problem, see the details in the slides and the research paper using a pan cleaning example.
Published:
We envision a future where robots can assist human to manipulate bulky, or heavy objects. A mobile dual-arm robot is an ideal candidate for this purpose. During the week, our PR2 robot helped the public audiences, especially the children, to co-manipulate a table.
Published:
We documented the abstract and the slides. The recorded presentation will be on-line in the future.
Published:
Undergraduate course, KTH-Royal Institute of Technology, School of Computer Science and Communication, 2015
This is a entry-level Java programming course DD1346. I was responsible for the lab sessions and the homeworks.
Master Program Course, KTH-Royal Institute of Technology, School of Computer Science and Communication, 2015
Help the students of DD2423 with the Lab sesstions and grade the home works.
Undergraduate course, KTH-Royal Institute of Technology, School of Computer Science and Communication, 2015
This is a entry-level C programming course DD1324 for students not necessarily with an engineering or a scientific background. I was responsible for the lab sessions and the homeworks.