3 accepted papers
Many recent human-robot collaboration strategies, such as <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Assist-As-Needed</i> (AAN), are promoting human-centered robot control, where the robot continuously adapts its assistance level based on the re
Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely approximate and underestimate the true capabilities. Force/velocity polytopes appear to be a more appropriate representatio…