Related papers: Impact-Aware Multi-Contact Balance Criteria
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made models for manipulators mounted on a fixed base.…
In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…
Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a…
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
The paper focuses on collision-inclusive motion planning for impact-resilient mobile robots. We propose a new deformation recovery and replanning strategy to handle collisions that may occur at run-time. Contrary to collision avoidance…
Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but only work in the 2D sagittal plane; on the other hand,…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts,…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
Safety concerns have risen as robots become more integrated into our daily lives and continue to interact closely with humans. One of the most crucial safety priorities is preventing collisions between robots and people walking nearby.…
A key challenge in contact-rich dexterous manipulation is the need to jointly reason over geometry, kinematic constraints, and intricate, nonsmooth contact dynamics. End-to-end visuomotor policies bypass this structure, but often require…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…