相关论文: Human-Exoskeleton Interaction Portrait
The intrinsic biomechanical characteristic of the human upper limb plays a central role in absorbing the interactive energy during physical human-robot interaction (pHRI). We have recently shown that based on the concept of ``Excess of…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), analogous to muscle memory. The proposed method addresses key…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Robotic exoskeletons are exciting technologies for augmenting human mobility. However, designing such a device for seamless integration with the human user and to assist human movement still is a major challenge. This paper aims at…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and…
Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…
People touch their face 23 times an hour, they cross their arms and legs, put their hands on their hips, etc. While many images of people contain some form of self-contact, current 3D human pose and shape (HPS) regression methods typically…
Traditional IK methods for redundant humanoid manipulators emphasize end-effector (EE) tracking, frequently producing configurations that are valid mechanically but not human-like. We present Human-Like Inverse Kinematics (HL-IK), a…
Accurate prediction of human movements is required to enhance the efficiency of physical human-robot interaction. Behavioral differences across various users are crucial factors that limit the prediction of human motion. Although recent…
Current research on human activity recognition (HAR) mainly assumes that training and testing data are drawn from the same distribution to achieve a generalised model, which means all the data are considered to be independent and…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
Human-robot interaction (HRI) research is progressively addressing multi-party scenarios, where a robot interacts with more than one human user at the same time. Conversely, research is still at an early stage for human-robot collaboration.…