27 accepted papers
We present multipanda_ros2, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2_control, this framework provides native ROS 2 interfaces for controlling any number of robots from a single process. Our core contributions address key challenges in r…
This article presents an impact-aware manipulation framework for logistics, where growing e-commerce demands have increased the need for faster and more flexible package handling solutions. The proposed framework addresses swiftly grabbing and placing objects in depalletizing tasks with dual-arm rob…
Tactile manipulation is a prominent and growing field where most research focuses on developing generalized manipulation policies. However, tactile execution monitoring - the ability to reliably evaluate manipulation at the skill level - is often overlooked, despite being critical for unsupervised d…
In this paper, we extend the Unified Force-Impedance Control (UFIC) framework for the whole-body control of service mobile robots subject to non-holonomic constraints. This enables the robot to execute complex service tasks that demand both force and impedance control within its whole body workspace
This paper presents a novel approach for robot navigation in environments containing deformable obstacles. By integrating Learning from Demonstration (LfD) with Dynamical Systems (DS), we enable adaptive and efficient navigation in complex environments where obstacles consist of both soft and hard r
This paper presents GARMI’s successful outdoor demonstration during the Kandahar Ski World Cup, where it performed trophy handovers in sub-zero temperatures. The event highlighted challenges in deploying robots in extreme conditions, including fluctuating temperatures and uneven terrain. GARMI achie
Ensuring the sterility of medical equipment, particularly endoscopes used in environments teeming with diverse pathogens and drug-resistant bacteria, is crucial for safe medical procedures. However, the complexity of endoscope reprocessing, which involves numerous dexterous manual manipulations, pos
Teleoperation with haptic feedback allows users to interact with remote environments while retaining a sense of touch. However, the stability and transparency of these systems are compromised under communication network delay. This paper presents an augmented Model-Mediated Teleoperation with 3D obj
In this work, an upgraded exoskeleton design is presented with enhanced trajectory tracking and mechanical transparency. Compared to the first version, the design features a 3-DoF actuated shoulder joint and a mechanism to regulate the pretension of Bowden cables. Force/torque sensors are installed…
Performing human-like motion is crucial for service humanoid robots. Real-time motion retargeting allows clear observation of the robot’s pose and provides instant feedback during human demonstrator actions. This paper presents an optimization-based real-time anthropomorphic motion retargeting frame…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve bimanual robot telepresence quality by reducing the user wor…
Signed Distance Fields are a common surface representation method widely used for both 3D mapping and obstacle avoidance. While the former traditionally uses projective Truncated Signed Distance Fields (TSDF), the latter often requires a complete Euclidean Signed Distance Field (ESDF) representation…
This paper investigates the problem of effective tool manipulation for motion planning in complex human-like scenarios. Vector-field-based real-time strategies, although widely used, usually do not account for unwieldy tools or incorporate systematic methods to handle these extra maneuvers needed. I…
Integrating humanoid service mobile robots into human environments presents numerous challenges, primarily concerning the safety of interactions between robots and humans. To address these safety concerns, we propose a novel approach that leverages the capabilities of digital twin technology by tail…
Bowden cables serve as essential components in various mechanical systems, facilitating power transmission from remote actuators to specific destinations. The pretension of Bowden cables profoundly influences system performance, notably in terms of friction. This study investigates the effects of ca…
Non-prehensile transportation of unstable objects presents a challenging task in robotics. To ensure the success of the transportation, it is necessary to consider both the object’s stability via contact dynamics and the motion constraints of the robot. We propose two novel trajectory planning metho…
With the increasing demand for new healthcare solutions and technologies, such as those resulting from the COVID-19 crisis, and the growing elderly population, exoskeletons for teleoperation are a promising solution for many future medical applications. In this context, we propose two force- sensiti…
As robots become more and more intelligent, the complexity of the algorithms behind them is increasing. Since these algorithms require high computation power from the onboard robot controller, the weight of the robot and energy consumption increases. A promising solution to tackle this issue is to r…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity when handling objects. Such dexterity seems to derive from a r
Sophisticated manipulation requires both compliance and accuracy. While tactile robots excel at being compliant, their accuracy is often inadequate for complex manipulation. Contact-rich assembly tasks, such as the insertion and manipulation of objects with small tolerances pose an enormous challeng…
Identifying the inertial parameters of real robotic manipulators is a fundamental step towards realistic modeling and better controller performances, which is crucial for safe human-robot interaction. Our work introduces a novel framework for identifying a generalized set of base inertial parameters…
Shared-autonomy control strategies in teleoperation combine human decision-making and robot precision to solve complex tasks. In other words, advanced autonomous control algorithms can compensate for imprecise human commands, reduce the mental workload of the user, and enable the execution of tasks…
Tactile sensors are becoming more prevalent in numerous research domains, including robotics, human-robot interaction, and grasping. As the development of customized soft tactile skin for various applications continues to gain momentum, there is an increasing demand for the automation of design and…
The human hand capabilities are paramount for highly dexterous manipulation interactions. Unfortunately, the limitations of current technologies make replicating such capabilities unfeasible. Although several works have focused on directly attempting to create robot hands able to mimic human ones cl
The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to overcome this problem using robot-assisted telediagnostics,
The need for comprehensive telemedicine solutions is becoming increasingly relevant due to challenges associated with the ageing population, the increasing shortage of health-care providers, and, more recently, the global pandemic. Existing solutions primarily focus on, e.g., electronic medical reco…
Humans use their limbs to perform various movements to interact with an external environment. Thanks to limb's variable and adaptive stiffness, humans can adapt their movements to the external unstable dynamics. The underlying adaptive mechanism has been investigated, employing a simple planar devic