Related papers: Current-Based Impedance Control for Interacting wi…
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
The ability of robots to navigate through doors is crucial for their effective operation in indoor environments. Consequently, extensive research has been conducted to develop robots capable of opening specific doors. However, the diverse…
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…
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
Contact-rich manipulation is crucial for robots to perform tasks requiring precise force control, such as insertion, assembly, and in-hand manipulation. However, most imitation learning (IL) policies remain position-centric and lack…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile…
Compliant robot behavior is crucial for the realization of contact-rich manipulation tasks. In such tasks, it is important to ensure a high stiffness and force tracking accuracy during normal task execution as well as rapid adaptation and…
The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…
We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…
In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
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…