Related papers: Bounded Collision Force by the Sobolev Norm
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
This work examines the role of reinforcement learning in reducing the severity of on-road collisions by controlling velocity and steering in situations in which contact is imminent. We construct a model, given camera images as input, that…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observability. To account for these limitations, it is common to…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…
In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…
Many applications require robots to move through complex 3-D terrain with large obstacles, such as self-driving, search and rescue, and extraterrestrial exploration. Although robots are already excellent at avoiding sparse obstacles, they…
Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts,…