Franka Emika Panda robot

Algorithms of a 7-DoF redundant manipulator (2023-2024)

Motion Planning

We developed several high-frequency online trajectory planners for obstacle avoidance and/or robot-environment interaction. They are mainly based on model predictive control (MPC). For more details, see these publications (Jia et al., 2025; Jia et al., 2025).

Motion planning and control algorithm (2025 ICRA).

Motion Control

We developed several efficient and robust motion controllers for robots with high degrees of freedom. Please refer to these publications (Jia et al., 2024; Jia et al., 2024) for more details. We will be delighted if the algorithm could be deployed on your robots.

Motion control algorithm (2024 ICRA).

References

2025

  1. RA-L
    ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation
    Xinyu Jia, Wenxin Wang , Jun Yang , Yongping Pan , and Haoyong Yu
    IEEE Robotics and Automation Letters, 2025
  2. ICRA
    Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control
    Xinyu Jia, Wenxin Wang , Jun Yang , Yongping Pan , and Haoyong Yu
    In 2025 IEEE International Conference on Robotics and Automation (ICRA) , 2025

2024

  1. T-MECH
    Robust Precision Motion Control based on Enhanced Unknown System Dynamics Estimator for High-DoF Robot Manipulators
    Xinyu Jia, Jun Yang , Tian Shi , Wenxin Wang , Yongping Pan , and Haoyong Yu
    IEEE/ASME Transactions on Mechatronics, 2024
  2. ICRA
    Enhanced Robust Motion Control based on Unknown System Dynamics Estimator for Robot Manipulators
    Xinyu Jia, Jun Yang , Kaixin Lu , Yongping Pan , and Haoyong Yu
    In 2024 IEEE International Conference on Robotics and Automation (ICRA) , 2024