Related papers: Safe, Passive Control for Mechanical Systems with …

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…

Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation.…

Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…

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…

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…

Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…

In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…

With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…

Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…

Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to the challenges of collecting effective training data and…

Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in…

Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in…

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…

In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…

With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…

Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…

Robots applications in our daily life increase at an unprecedented pace. As robots will soon operate "out in the wild", we must identify the safety and security vulnerabilities they will face. Robotics researchers and manufacturers focus…

Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…