Related papers: Safety-related Tasks within the Set-Based Task-Pri…

Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulators can allow infinite joint configurations that satisfy a…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

The capabilities of a robot will be increased significantly by exploiting throwing behavior. In particular, throwing will enable robots to rapidly place the object into the target basket, located outside its feasible kinematic space,…

Obstacle avoidance for DMPs is still a challenging problem. In our previous work, we proposed a framework for obstacle avoidance based on superquadric potential functions to represent volumes. In this work, we extend our previous work to…

Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…

In this paper, a method to achieve smooth transitions between sequential reachability tasks for a continuous time mobile robotic system is presented. Control barrier functions provide formal guarantees of forward invariance of safe sets and…

Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…

Robotic manipulation in dynamic and unstructured environments requires safety mechanisms that exploit what is known and what is uncertain about the world. Existing safety filters often assume full observability, limiting their applicability…

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…

Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…

Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approaches, such as artificial potential fields (APFs), suffer from…

Ensuring safety for human-interactive robotics is important due to the potential for human injury. The key challenge is defining safety in a way that accounts for the complex range of human behaviors without modeling the human as an…

In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…

This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper proposes a novel task-space control law attained by taking the…

This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…