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We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with predictive movement simulations can help to simplify this design process. Here, we…
In this paper, we propose a unified whole-body control framework for velocity-controlled mobile collaborative robots which can distribute task motion into the arm and mobile base according to specific task requirements by adjusting…
Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental…
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free…
In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes explicit contact dynamics. Therefore, contact locations,…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
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…