Related papers: Energy Tank-based Control Framework for Satisfying…
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article has the threefold scope of i) introducing to the reader the…
The current technical specification ISO/TS15066:2016(E) for safe human-robot interaction contains logically conflicting definitions for the contact between human and robot. This may result in different interpretations for the contact…
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in…
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…
Industrial robotics has established itself as an integral component of large-scale manufacturing enterprises. Simultaneously, collaborative robotics is gaining prominence, introducing novel paradigms of human-machine interaction. These…
The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds…
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…
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
Over the last years collaborative robots have gained great success in manufacturing applications where human and robot work together in close proximity. However, current ISO/TS-15066-compliant implementations often limit the efficiency of…
In this paper, we propose a novel framework for the synthesis of robust and optimal energy-aware controllers. The framework is based on energy timed automata, allowing for easy expression of timing constraints and variable energy rates. We…
Within a robotic context, we merge the techniques of passivity-based control (PBC) and reinforcement learning (RL) with the goal of eliminating some of their reciprocal weaknesses, as well as inducing novel promising features in the…
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…
We examine the problem of weaknesses in frameworks of conceptual modeling for handling certain aspects of the system being modeled. We propose the use of a flow-based modeling methodology at the conceptual level. Specifically, and without…
This paper introduces Energentic Intelligence, a class of autonomous systems defined not by task performance, but by their capacity to sustain themselves through internal energy regulation. Departing from conventional reward-driven…
Our goal is to develop a principled and general algorithmic framework for task-driven estimation and control for robotic systems. State-of-the-art approaches for controlling robotic systems typically rely heavily on accurately estimating…