9 accepted papers
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…
Predicting the post-impact velocity for torque-controlled flexible-joint robots enhances impact-aware control schemes which exploit intentional collisions for achieving dynamic robotic manipulation and locomotion. Compared to a previous approach based on a fully rigid-robot assumption, this paper sh
To speed up and reduce power consumption per cycle in robotic manipulation, one option is to exploit intentional collisions with the surrounding environment and objects, an approach referred to as impact-aware manipulation. Within this context, this paper focuses on developing an online collision mo
This paper focuses on the problem of smoothing a rotation trajectory corrupted by noise, while simultaneously estimating its corresponding angular velocity and angular acceleration. To this end, we develop a geometric version of the Savitzky-Golay filter on SO(3) that avoids following the convention…
Suction grippers are the most common pick-and-place end effectors used in industry. However, there is little literature on creating and validating models to predict their force interaction with objects in dynamic conditions. In this paper, we study the interaction dynamics of an active vacuum suctio…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping and pushing of objects. Starting from the recorded dynamic…
This letter addresses the problem of causal velocity estimation of motion signals exhibiting sudden velocity changes. It is explicitly assumed that only sampled quantized position data are available, and that no dynamic system model is at hand, to allow for an effective solution with minimal a prior
This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing a dyna…
In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation frame that depends only on the current robot configuration and pro