16 accepted papers
Achieving robust and reliable control in robotic systems is crucial, especially in presence of model uncertainties. Over the last years the notion of closed-loop sensitivity has emerged as an effective tool for analyzing and quantifying how uncertainties in the model parameters affect the closed-loo…
Learning by demonstration techniques are gaining popularity within the human-robot collaboration (HRC) scenarios. This is because they allow to deeply exploit the versatility of collaborative robots. In this context, dynamic motion primitives (DMPs) have become a standard method for enabling human o
Achieving robust robot control requires explicit treatment of model uncertainties. Closed-loop sensitivity has emerged as a powerful tool to analyze how parameter errors map into state and input deviations through so-called “sensitivity tubes”, traditionally built from <italic xmlns:mml="http://www.
In this article, an optimal controller for achieving constrained admittance control is proposed. This controller strictly adheres to the constraint boundaries while ensuring minimal variations in kinematic energy. The proposed method integrates admittance control for human-robot interaction with the
In this paper, we propose a closed-loop sensitivity-based approach to enhance the robustness of robotic non-prehensile dynamic manipulation tasks. The proposed method aims at fulfilling the transportation of an object, that is free to move on a tray-shaped robot end-effector, in face of not perfectl
Ensuring safe and effective physical human-robot interaction (pHRI) remains a critical challenge in industrial robotics, particularly in ensuring compliance with ISO/TS 15066 safety standards. This paper proposes a novel framework to achieve a safe and robust physical human-robot interaction (pHRI).
The new face of modern industrial scenarios involves shared workspaces where humans and robots work closely together. To ensure safe human-robot collaboration (HRC), regulations have been updated introducing the ISO/TS15066. However, complying with these regulations often leads to inefficient behavi
The human-robot collaboration scenarios are characterized by the presence of human operators and robots that work in close contact with each other. As a consequence, the safety regulations have been updated in order to provide guidelines on how to asses safety in these new scenarios. In particular,…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired slowdowns. On one hand, this is because unforeseen events may occur,…
This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires an object from the robot. In this context, it is imperative…
In the actual industrial scenarios, human operators and robots work together sharing the workspace. Such proximity requires special attention in ensuring safety for the human operator, which is often translated in collision avoidance behaviour or high speed reduction. Adhering safety however is not…
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
Energy tanks have gained popularity inside the robotics and control communities over the last years, since they represent a formidable tool to enforce passivity (and, thus, input/output stability) of a controlled robot, possibly interacting with uncertain environments. One weak point of passificatio…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the robot. The scheduling should consider the task execution cons
In collaborative robotic applications, human and robot have to work together to accomplish a common job, composed by a set of tasks. In order to achieve an efficient human-robot collaboration (HRC), it is important to have an integration between a proper task scheduling strategy and a task execution…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new scenarios. The mere application of these regulations may lea