Related papers: RMPs for Safe Impedance Control in Contact-Rich Ma…
Smooth behaviors are preferable for many contact-rich manipulation tasks. Impedance control arises as an effective way to regulate robot movements by mimicking a mass-spring-damping system. Consequently, the robot behavior can be determined…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
In this paper, we present a Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspired algorithm for fusing multiple task-space policies (RMPs)…
The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial to performing real-world force interaction tasks with…
In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
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,…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…
End-to-end learning for autonomous navigation has received substantial attention recently as a promising method for reducing modeling error. However, its data complexity, especially around generalization to unseen environments, is high. We…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
Reinforcement learning (RL) has had its fair share of success in contact-rich manipulation tasks but it still lags behind in benefiting from advances in robot control theory such as impedance control and stability guarantees. Recently, the…
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics and flexibility of automation. Established methods for the design of compliance, impedance control, and \rev{collision response}…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
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.…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…