10 accepted papers
Ensuring survival and self-preservation is essential to design intelligent robots that adapt to dynamic and unfamiliar environments. Inspired by the dual-pathway model from neuroscience, we introduce a control architecture designed to ensure the adaptability of robotic behavior during navigation. Th…
Advancements in physical Human-Robot Interaction (pHRI) aim to achieve natural and efficient collaboration between humans and robots, especially in dynamic environments where task performance is essential. This study focuses on co-manipulative human-robot joint activities, exploring key components o…
Ensuring survival and self-preservation is essential to design intelligent robots that adapt to dynamic and unfamiliar environments. Inspired by the dual-pathway model from neuroscience, we introduce a control architecture designed to ensure the adaptability of robotic behavior during navigation. Th
Advancements in physical Human-Robot Interaction (pHRI) aim to achieve natural and efficient collaboration between humans and robots, especially in dynamic environments where task performance is essential. This study focuses on co-manipulative human-robot joint activities, exploring key components o
In this letter, we present SoftSling, a soft robot control strategy designed for accurately throwing objects following circular run-ups. SoftSling draws inspiration from ancient slingers, who rotated a sling loaded with a projectile at high speeds to fight and hunt, releasing the object by letting g
In this paper, we propose a transformer-based architecture for predicting contact forces during a physical human-robot interaction. Our Neural Network is composed of two main parts: a Multi-Layer Perceptron called Transducer and a Transformer. The former estimates, based on the kinematic data from a…
The focus of the research community in the soft robotic field has been on developing innovative materials, but the design of control strategies applicable to these robotic platforms is still an open challenge. This is due to their highly nonlinear dynamics which is difficult to model and the degree
Grasping in unstructured environments requires highly adaptable and versatile hands together with strategies to exploit their features to get robust grasps. This letter presents a method to grasp objects using a novel reconfigurable soft gripper with embodied constraints, the Soft ScoopGripper (SSG)
In this paper we consider the cooperative control of the manipulation of a load on a plane by a team of mobile robots. We propose two different novel solutions. The first is a controller which ensures exact tracking of the load twist. This controller is partially decentralized since, locally, it doe
In this paper, a distributed approach for the estimation of kinematic and inertial parameters of an unknown rigid body is presented. The body is manipulated by a pool of ground mobile manipulators. Each robot retrieves a noisy measurement of its velocity and the contact forces applied to the body. K…