A Whole-Body Multi Contact Large Object Manipulation and Estimation Framework for Humanoids Using Skin Patches

Authors: Subburaman, Rajesh, Stasse, Olivier

Contributors: Subburaman, Rajesh

Source: 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids). :1-8

Subject Terms: Multi-contact whole-body motion planning and control, Humanoids, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Parameter estimation, Model predictive optimization-based control, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Differential Dynamic Programming, Tactile sensors

File Description: application/pdf

Access URL: https://hal.science/hal-05368991v1
https://doi.org/10.1109/humanoids65713.2025.11203164
https://hal.science/hal-05368991v1/document

A Hierarchical Architecture for the Coordination of an Ensemble of Steam Generators

Authors: Spinelli S, Longoni E, Farina M, Petzke F, Streif S, Ballarino A

Source: IFAC-PapersOnLine. 53:11557-11562

Subject Terms: 0209 industrial biotechnology, Model predictive and optimization-based control, Hierarchical multilevel and multilayer control, 0502 economics and business, 05 social sciences, FOS: Electrical engineering, electronic engineering, information engineering, Model predictive, optimization-based control, Optimization, control of large-scale network systems, Hierarchical multilevel, multi-layer control, Steam generator, Energy systems, Systems and Control (eess.SY), 02 engineering and technology, Control of large-scale systems, Electrical Engineering and Systems Science - Systems and Control, 7. Clean energy

File Description: application/pdf

Access URL: http://arxiv.org/abs/2006.12400
https://arxiv.org/abs/2006.12400
https://www.sciencedirect.com/science/article/pii/S240589632030940X
https://doi.org/10.1016/j.ifacol.2020.12.633
https://hdl.handle.net/20.500.14243/406323

Optimal input design for online identification: a coupled observer-MPC approach

Authors: Flila, Saida, Dufour, Pascal, Hammouri, Hassan

Contributors: Flila, Saida, Dufour, Pascal

Source: IFAC Proceedings Volumes. 41:11457-11462

Subject Terms: nonlinear observer and filter design, identification for control, 0209 industrial biotechnology, [SPI.AUTO] Engineering Sciences [physics]/Automatic, [SPI.GPROC] Engineering Sciences [physics]/Chemical and Process Engineering, design and control, model predictive optimization-based control, 02 engineering and technology, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering

File Description: application/pdf

Access URL: https://hal.science/hal-00457751v1

Optimal input design for on-line identification: a coupled observer-MPC approach

Authors: Flila, Saida, Dufour, Pascal, Hammouri, Hassan

Contributors: Laboratoire d'automatique et de génie des procédés (LAGEP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure de Chimie Physique Électronique de Lyon (CPE)-Centre National de la Recherche Scientifique (CNRS)

Source: Proceedings of the 17th International Federation of Automatic Control (IFAC) World Congress 2008 ; International Federation of Automatic Control (IFAC) World Congress ; https://hal.science/hal-00352751 ; International Federation of Automatic Control (IFAC) World Congress, Jul 2008, Seoul, South Korea. Paper 1722, pp. 11457-11462, ⟨10.3182/20080706-5-KR-1001.1722⟩

Subject Terms: nonlinear observer and filter design, design and control, identification for control, model predictive optimization-based control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.GPROC]Engineering Sciences [physics]/Chemical and Process Engineering

Subject Geographic: Seoul, South Korea

Availability: https://hal.science/hal-00352751
https://hal.science/hal-00352751v2/document
https://hal.science/hal-00352751v2/file/fli08-IFAC-WC-Seoul-11457-11462-paper.pdf
https://doi.org/10.3182/20080706-5-KR-1001.1722