Related papers: Safety-related Tasks within the Set-Based Task-Pri…
This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations…
Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm for kinematic control in…
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…
In task-based inverse dynamics control, reference accelerations used to follow a desired plan can be broken down into feedforward and feedback trajectories. The feedback term accounts for tracking errors that are caused from inaccurate…
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under complex constraints. We present IKSPARK (Inverse Kinematics using…
Continuum manipulators have gained significant attention as a promising alternative to rigid manipulators, offering notable advantages in terms of flexibility and adaptability within intricate workspace. However, the broader application of…
We develop a new framework for trajectory planning on predefined paths, for general N-link manipulators. Different from previous approaches generating open-loop minimum time controllers or pre-tuned motion profiles by time-scaling, we…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
In industrial context, admittance control represents an important scheme in programming robots for interaction tasks with their environments. Those robots usually implement high-gain disturbance rejection on joint-level and hide direct…
Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for…
In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions…
We present a hierarchical framework to solve robot planning as an input control problem. At the lowest level are temporary closed control loops, ("tasks"), each representing a behaviour, contingent on a specific sensory input and therefore…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots…
In this paper, we present an approach for learning collision-free robot trajectories in the presence of moving obstacles. As a first step, we train a backup policy to generate evasive movements from arbitrary initial robot states using…
Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can't be controlled like industrial robotic manipulator where personnel is isolated from the robot's work envelope. In this paper, we…