Related papers: Adaptive Collision Sensitivity for Efficient and S…
This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still require active control to achieve reliable collision avoidance.…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
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…
Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intentionally hitting a wall with its right arm while standing on…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Road safety continues to be a pressing global issue, with vehicle collisions imposing significant human, societal, and economic burdens. Human-machine shared collision avoidance in critical collision scenarios aims to aid drivers' accident…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…
In this paper, we develop estimation and control methods for quickly reacting to collisions between omnidirectional mobile platforms and their environment. To enable the full-body detection of external forces, we use torque sensors located…
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
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…
Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…
To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic…
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured…
This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as…