Related papers: Variable impedance control and learning -- A revie…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…

An outstanding challenge for the widespread deployment of robotic systems like autonomous vehicles is ensuring safe interaction with humans without sacrificing performance. Existing safety methods often neglect the robot's ability to learn…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…

Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…

Active learning is a decision-making process. In both abstract and physical settings, active learning demands both analysis and action. This is a review of active learning in robotics, focusing on methods amenable to the demands of embodied…

Exposing an Evolutionary Algorithm that is used to evolve robot controllers to variable conditions is necessary to obtain solutions which are robust and can cross the reality gap. However, we do not yet have methods for analyzing and…

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.…

Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…

Controlling the physical interaction with the environment or objects, as humans do, is a shared requirement across different types of robots. To effectively control this interaction, it is necessary to control the power delivered to the…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

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…

In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In particular, in ultrasonography, robots have the potential to…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

The current methods to generate robot actions for automation in significantly different environments have limitations. This paper proposes a new method that matches the impedance of two prerecorded action data with the current environmental…

Reinforcement Learning (RL) of contact-rich manipulation tasks has yielded impressive results in recent years. While many studies in RL focus on varying the observation space or reward model, few efforts focused on the choice of action…

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…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…