Related papers: HapFIC: An Adaptive Force/Position Controller for …
Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…
Contact-rich manipulation is crucial for robots to perform tasks requiring precise force control, such as insertion, assembly, and in-hand manipulation. However, most imitation learning (IL) policies remain position-centric and lack…
The contact-rich nature of manipulation makes it a significant challenge for robotic teleoperation. While haptic feedback is critical for contact-rich tasks, providing intuitive directional cues within wearable teleoperation interfaces…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
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.…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
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…
This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling,…
Compliant robot behavior is crucial for the realization of contact-rich manipulation tasks. In such tasks, it is important to ensure a high stiffness and force tracking accuracy during normal task execution as well as rapid adaptation and…
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…
More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This paper presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, the commonly used position or velocity tracking-based…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
Haptic perception and feedback play a pivotal role in interactive experiences, forming an essential component of human-computer interaction (HCI). In recent years, the field of haptic interaction has witnessed significant advancements,…
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…