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Alin Albu-Schaeffer

7 accepted papers

2020

Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters

Ribin Balachandran, Hrishik Mishra, Matteo Cappelli, Bernhard Weber, Cristian Secchi, Christian Ott +1
ICRA 2020poster

In the present paper, we propose a novel system-driven adaptive shared control framework in which the autonomous system allocates the authority among the human operator and itself. Authority allocation is based on a metric derived from a Bayesian filter, which is being adapted online according to re…

Cited by 33Source ↗Scholar ↗
2020

Closing the Force Loop to Enhance Transparency in Time-delayed Teleoperation

Ribin Balachandran, Jee-Hwan Ryu, Mikael Jorda, Christian Ott, Alin Albu-Schaeffer
ICRA 2020poster

In the present paper, we first adopt explicit force control from general robotics and embed it into teleoperation systems to enhance the transparency by reducing the effect of the perceived inertia to the human operator and simultaneously improve contact perception. To ensure stability of the propos…

Cited by 19Source ↗Scholar ↗
2020

MPTC – Modular Passive Tracking Controller for stack of tasks based control frameworks

Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schaeffer
RSS 2020poster

This work introduces the so-called Modular Passive Tracking Controller (MPTC), a generic passivity-based controller, which aims at independently fulfilling several subtask objectives. These are combined in a stack of tasks (SoT) that serves as a basis for the synthesis of an overall system controlle…

Cited by 16Source ↗PDF ↗Scholar ↗
2019

Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System

Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schaeffer
ICRA 2019poster

Since the spread of robotic systems embedding in their mechanics purposefully designed elastic elements, the interest in characterizing and exploiting non-linear oscillatory behaviors has progressively grown. However, few works so far looked at the problem from the point of view of modal analysis. T…

Cited by 1Source ↗Scholar ↗
2017

Haptic intention augmentation for cooperative teleoperation

Michael Panzirsch, Ribin Balachandran, Jordi Artigas, Cornelia Riecke, Manuel Ferre, Alin Albu-Schaeffer
ICRA 2017poster

Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual an…

Cited by 20Source ↗Scholar ↗
2015

Passivity of virtual free-floating dynamics rendered on robotic facilities

Marco De Stefano, Jordi Artigas, Wolfgang Rackl, Alin Albu-Schaeffer
ICRA 2015poster

This paper describes a control strategy to achieve high fidelity dynamics simulation rendered on admittance controlled robotic facilities. It explores the reasons for an increasing energy found in the virtual dynamics of a free-floating satellite rendered on a six degree of freedom robot, which can…

Cited by 22Source ↗Scholar ↗
2015

The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations

Jordi Artigas, Marco De Stefano, Wolfgang Rackl, Roberto Lampariello, Bernhard Brunner, Wieland Bertleff +5
ICRA 2015poster

On-orbit servicing involves a new class of space missions in which a servicer spacecraft is launched into the orbit of a target spacecraft, the client. The servicer navigates to the client with the intention of manipulating it, using a robotic arm. Within this framework, this work presents a new rob…

Cited by 112Source ↗Scholar ↗