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As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
This paper focuses on the problem of spacecraft attitude control in the presence of time-varying parameter uncertainties and multiple constraints, accounting for angular velocity limitation, performance requirements, and input saturation.…
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…
Equipped with Large Language Models (LLMs), human-centered robots are now capable of performing a wide range of tasks that were previously deemed challenging or unattainable. However, merely completing tasks is insufficient for cognitive…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters.…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
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…
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…
Stochastic human motion prediction is critical for safe and effective human-robot collaboration (HRC) in industrial remanufacturing, as it captures human motion uncertainties and multi-modal behaviors that deterministic methods cannot…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
This paper presents a model reference adaptive control (MRAC) framework for uncertain linear time-invariant (LTI) systems subject to user-defined, time-varying state and input constraints. The proposed design seamlessly integrates a…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
This paper proposes a dynamic game formulation for cooperative human-robot navigation in shared workspaces with obstacles, where the human and robot jointly satisfy shared safety constraints while pursuing a common task. A key contribution…
The theoretical unification of Nonlinear Model Predictive Control (NMPC) with Control Lyapunov Functions (CLFs) provides a framework for achieving optimal control performance while ensuring stability guarantees. In this paper we present the…