Related papers: Collision Isolation and Identification Using Propr…
Parallel robots (PRs) offer the potential for safe human-robot collaboration because of their low moving masses. Due to the in-parallel kinematic chains, the risk of contact in the form of collisions and clamping at a chain increases.…
Fast and safe motion is crucial for the successful deployment of physically interactive robots. Parallel robots (PRs) offer the potential for higher speeds while maintaining the same energy limits due to their low moving masses. However,…
Fast contact detection is crucial for safe human-robot collaboration. Observers based on proprioceptive information can be used for contact detection but have first-order error dynamics, which results in delays. Sensor fusion based on…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
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…
Parallel robots (PR) offer potential for human-robot collaboration (HRC) due to their lower moving masses and higher speeds. However, the parallel leg chains increase the risks of collision and clamping. In this work, these hazards are…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
In human-robot collaboration, unintentional physical contacts occur in the form of collisions and clamping, which must be detected and classified separately for a reaction. If certain collision or clamping situations are misclassified,…
Placing objects is a fundamental task for domestic service robots (DSRs). Thus, inferring the collision-risk before a placing motion is crucial for achieving the requested task. This problem is particularly challenging because it is…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…
Differentiable rendering has gained significant attention in the field of robotics, with differentiable robot rendering emerging as an effective paradigm for learning robotic actions from image-space supervision. However, the lack of…
A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile…
This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing key challenges in collision detection and minimum distance estimation. By combining…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…