Related papers: Impact-aware humanoid robot motion generation with…
Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although…
Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
Embodiment and subjective experience in human-robot interaction are important aspects to consider when studying both natural cognition and adaptive robotics to human environments. Although several researches have focused on nonverbal…
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) policies emphasize rigid tracking and suppress external…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
Direct physical interaction with robots is becoming increasingly important in flexible production scenarios, but robots without protective fences also pose a greater risk to the operator. In order to keep the risk potential low, relatively…
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle. The robot moves straight…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
This paper addresses the problem of task-space robust regulation of robot manipulators subject to external disturbances. A velocity-free control law is proposed by combining the internal model principle and the passivity-based…
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…