Related papers: Safe, Passive Control for Mechanical Systems with …
Robots operating in close proximity to humans rely heavily on human trust to successfully complete their tasks. But what are the real outcomes when this trust is violated? Self-defense law provides a framework for analyzing tangible failure…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…
Maintaining safety under adaptation has long been considered to be an important capability for autonomous systems. As these systems estimate and change the ego-model of the system dynamics, questions regarding how to develop safety…
Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal…
Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision avoidance, obstacle avoidance, and workspace boundaries must…
The restriction of feasible motions of a manipulator link constrained to move through an entry port is a common problem in minimum invasive surgery procedures. Additional spatial restrictions are required to ensure the safety of sensitive…
Within the concept of physical human-robot interaction (pHRI), the most important criterion is the safety of the human operator interacting with a high degree of freedom (DoF) robot. Therefore, a robust control scheme is in high demand to…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
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…
Most recent software related accidents have been system accidents. To validate the absence of system hazards concerning dysfunctional interactions, industrials call for approaches of modeling system safety requirements and interaction…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
Soft robotic actuators can simplify the design of controllers when operating in contact-rich environments. Importantly, their passive compliance fundamentally alters contact mechanics by smoothing impacts and distributing forces over large…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…