5 accepted papers
Vision-based perception has become prevalent in robotic applications, especially in those where the control loop relies on visual data, such as visual servoing. For those applications, ensuring that the features or target object remain visible to the camera is critical, necessitating visibility-awar…
Reconfigurable mobile robots are well suited for inspection tasks in legacy nuclear facilities where access is restricted and the environment is often cluttered. A reconfig-urable snake robot, MIRRAX, has previously been developed to investigate such facilities. The joints used for the robot's recon…
This letter proposes a six-DOF task-space admittance controller using the dual quaternion logarithmic mapping, coupling the translation and rotation impedance in a single mathematical structure. The controller is designed based on the energy of the system and the stiffness matrix is build to be cons
This letter uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new distance function and its corresponding Jacobian in order t
This paper introduces the Manipulation Task Model (MTM), an algebraic approach to describe manipulation tasks for robotic systems. The model is based on dual quaternion algebra to describe poses, linear and angular velocities, and forces and moments, all of which are joined to form the algebraic gro…