Accepted papers at ICRA 2026

• Singh, Rajpal, Aditya Singh, Chidre Shravista Kashyap, and Jishnu Keshavan. "Generalized Momenta-Based Koopman Formalism for Robust Control of Euler-Lagrangian Systems." arXiv preprint arXiv:2509.17010 (2025). (Conferene Paper)
• Kashyap, Chidre Shravista, Pushpak Jagtap, and Jishnu Keshavan. "Robust Control of Robotic Manipulator with Prescribed Spatio-temporal and Input constraints." In The Workshop on Manipulation Robustness: Towards Human-Level Robustness under Real-World Challenges (ICRA 2026).(Workshop Paper)

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Torque Controllers for Manipulators

This post explains the importance of torque-based controllers that send torque/force commands for robotic arms and illustrates the difficulty of using them for any robotic arm through ROS 2 and Gazebo Sim. It starts by demonstrating the challenges of using the existing C++ plugins for ros2 controllers. Then, with the aid of classical control theory, this post illustrates how to bridge the gap. Consequently, the robotic arm doesn't collapse to the ground. It holds its position through torque commands generated internally and switches to an external input supply when another node sends the torque command.

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ROS 2: Some tips and tricks

Article explains about some tricks in using ROS 2 in daily projects

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