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We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…
Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
In optimal control problems, disturbances are typically dealt with using robust solutions, such as H-infinity or tube model predictive control, that plan control actions feasible for the worst-case disturbance. Yet, planning for every…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…
Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…
Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
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…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…