相关论文: Impact-Aware Multi-Contact Balance Criteria

This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations…

With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking…

Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…

Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…

The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a non-linear motion controller to handle…

Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…

The three bio-inspired strategies that have been used for balance recovery of biped robots are the ankle, hip and stepping Strategies. However, there are several cases for a biped robot where stepping is not possible, e. g. when the…

Estimating the impact intensity is one of the significant tasks of the legged robot. Accurate feedback of the impact may support the robot to plan a suitable and efficient trajectory to adapt to unknown complex terrains. Ordinarily, this…

Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…

We present a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the calculation of contact-stability constraints. Thanks to a…

With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…

Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more complex interactions with the objects, but also presents…

Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors.…

As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…

Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…