DARC: Disturbance-Aware Redundant Control for Human-Robot Co-Transportation
Published in Electronics 2025, 2025
Recommended citation: Mahmud, A. J., Raj, A. H., Nguyen, D. M., Xiao, X., & Wang, X. (2025). "DARC: Disturbance-Aware Redundant Control for Human-Robot Co-Transportation." Electronics, 14(12), 2480. https://www.mdpi.com/2079-9292/14/12/2480
A CVAE generates candidate arm configurations and a disturbance-aware Riccati equation selects the lowest-cost one, coordinating base and arm on a Fetch robot.