5 accepted papers
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies the variation between pre- and post-impact velocities. By find…
This paper proposes a method to robustify model predictive path integral (MPPI) control by directly taking into account the effects of parameter uncertainty into the controller formulation. Leveraging the recent notion of closed-loop state sensitivity, the proposed MPPI can consider the state sensit
In this letter, we detail a comprehensive framework for safe and robust planning for robots in presence of model uncertainties. Our framework is based on the recent notion of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">closed-loop state sensitivi
In this article, we consider the problem of delivering an object to a human coworker by means of an aerial robot (AR). To this aim, we present an ergonomics-aware Nonlinear Model Predictive Control (NMPC) designed to autonomously perform the handover. The method is general enough to be applied to an…
In this paper we introduce a comprehensive framework to control an aerial manipulator, i.e., an aerial vehicle with a robotic arm, in physical interaction with a human operator or co-worker. The framework uses an admittance control paradigm in order to attain human ergonomy and safety; an interactio…