Related papers: A Safety and Passivity Filter for Robot Teleoperat…
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…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents'…
Ensuring robot safety can be challenging; user-defined constraints can miss edge cases, policies can become unsafe even when trained from safe data, and safety can be subjective. Thus, we learn about robot safety by showing policy…
We propose a new class of passive nonlinear finite impulse response operators. This class is constructed by the action of finite impulse response filters in a lifted space. This allows for efficient control synthesis through constrained…
This paper investigates bilateral control of teleoperators with closed architecture and subjected to arbitrary bounded time-varying delay. A prominent challenge for bilateral control of such teleoperators lies in the closed architecture,…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Adaptive control has focused on online control of dynamic systems in the presence of parametric uncertainties, with solutions guaranteeing stability and control performance. Safety, a related property to stability, is becoming increasingly…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…
Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave…
This paper considers risk-sensitive model predictive control for stochastic systems with a decision-dependent distribution. This class of systems is commonly found in human-robot interaction scenarios. We derive computationally tractable…
The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…
In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…