Related papers: Compliant Non-Prehensile Pushing Manipulation
Robotic manipulation is essential for modernizing factories and automating industrial tasks like polishing, which require advanced tactile abilities. These robots must be easily set up, safely work with humans, learn tasks autonomously, and…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch above a crowded…
Reinforcement learning is a promising approach to synthesizing policies for challenging robotics tasks. A key problem is how to ensure safety of the learned policy---e.g., that a walking robot does not fall over or that an autonomous car…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
During physical human robot collaboration, it is important to be able to implement a time-varying interactive behaviour while ensuring robust stability. Admittance control and passivity theory can be exploited for achieving these…
The current methods to generate robot actions for automation in significantly different environments have limitations. This paper proposes a new method that matches the impedance of two prerecorded action data with the current environmental…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Contact modeling plays a central role in motion planning, simulation, and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
Implicit communication plays such a crucial role during social exchanges that it must be considered for a good experience in human-robot interaction. This work addresses implicit communication associated with the detection of physical…