相关论文: A hybrid model-based evolutionary optimization wit…
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…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
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…
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on adaptive impedance control with meta parameter learning and…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…
We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
Physical human-robot interaction (pHRI) integrates the benefits of human operator and a collaborative robot in tasks involving physical interaction, with the aim of increasing the task performance. However, the design of interaction…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges…
Due to the several applications on Human-machine interaction (HMI), this area of research has become one of the most popular in recent years. This is the case for instance of advanced training machines, robots for rehabilitation, robotic…
This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The planner optimizes both the contact sequence and the robot…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…