Nikhil Potu Surya Prakash

18 papers A 1C 3Journal 14
YearRankTypeTitle / Venue / Authors
2025 J jnl
Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators.
CoRR
Joohwan Seo, Nikhil Potu Surya Prakash, Soomi Lee, Arvind Kruthiventy, Megan Teng, Jongeun Choi, Roberto Horowitz
2024 C conf
A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control.
ACC
Joohwan Seo, Nikhil Potu Surya Prakash, Jongeun Choi, Roberto Horowitz
2024 J jnl
A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control.
CoRR
Joohwan Seo, Nikhil Potu Surya Prakash, Jongeun Choi, Roberto Horowitz
2024 J jnl
Contact-Rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control.
IEEE Robotics Autom. Lett.
Joohwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka, Roberto Horowitz
2024 A conf
Deep Geometric Potential Functions for Tracking on Manifolds.
IROS
Nikhil Potu Surya Prakash, Joohwan Seo, Koushil Sreenath, Jongeun Choi, Roberto Horowitz
2023 J jnl
Clustering Techniques for Stable Linear Dynamical Systems with applications to Hard Disk Drives.
CoRR
Nikhil Potu Surya Prakash, Joohwan Seo, Jongeun Choi, Roberto Horowitz
2023 J jnl
Data-Driven Track Following Control for Dual Stage-Actuator Hard Disk Drives.
CoRR
Nikhil Potu Surya Prakash, Joo-Hwan Seo, Alexander Rose, Roberto Horowitz
2023 J jnl
Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning.
CoRR
Junwoo Chang, Hyunwoo Ryu, JiWoo Kim, Soochul Yoo, Joohwan Seo, Nikhil Potu Surya Prakash, Jongeun Choi, Roberto Horowitz
2023 J jnl
Robot Manipulation Task Learning by Leveraging SE(3) Group Invariance and Equivariance.
CoRR
Joo-Hwan Seo, Nikhil Potu Surya Prakash, Xiang Zhang, Changhao Wang, Jongeun Choi, Masayoshi Tomizuka, Roberto Horowitz
2022 J jnl
A Computational Approach for Variational Integration of Attitude Dynamics on SO(3).
CoRR
Nikhil Potu Surya Prakash
2022 C conf
Adaptive Feedforward Reference Design for Active Vibration Rejection in Multi-Actuator Hard Disk Drives.
ACC
Zhi Chen, Nikhil Potu Surya Prakash, Roberto Horowitz
2022 J jnl
Adaptive Model Predictive Control of Wheeled Mobile Robots.
CoRR
Nikhil Potu Surya Prakash, Tamara Perreault, Trevor Voth, Zejun Zhong
2022 C conf
Data-Driven Strictly Positive Real System Identification with prior System Knowledge.
ACC
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
2022 J jnl
Geometric Impedance Control on SE(3) for Robotic Manipulators.
CoRR
Joo-Hwan Seo, Nikhil Potu Surya Prakash, Alexander Rose, Roberto Horowitz
2021 J jnl
Adaptive Feedforward Reference Design for Active Vibration Rejection in Multi-Actuator Hard Disk Drives.
CoRR
Zhi Chen, Nikhil Potu Surya Prakash, Roberto Horowitz
2021 J jnl
Data-Driven Strictly Positive Real System Identification with prior System Knowledge.
CoRR
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
2021 J jnl
System Identification in Multi-Actuator Hard Disk Drives with Colored Noises using Observer/Kalman Filter Identification (OKID) Framework.
CoRR
Nikhil Potu Surya Prakash, Zhi Chen, Roberto Horowitz
2018 J jnl
Nonlinear control of a swinging pendulum on a wheeled mobile robot with nonholonomic constraints.
CoRR
Nikhil Potu Surya Prakash