7 accepted papers
The strength of the human hand lies in its ability to manipulate objects precisely and robustly. In contrast, simple robotic grippers have low dexterity and fail to handle small objects effectively. This is why many automation tasks remain unsolved by robots. This paper presents an optimization-base
This paper presents a control barrier function (CBF) for systems described by differential-algebraic equations and applies the method to guarantee the safety of a two-link flexible-link manipulator. The two main contributions of the paper are: a) an extension of CBFs to systems governed by different…
This paper presents a method for contact-based pose estimation of workpieces using a collaborative robot. The proposed pose estimation exploits positions and surface normal vectors along an arbitrary path on an object with known geometry, where surface normal vectors are estimated based on contact f…
This paper presents a framework for transferring surface finishing skills to new surface geometries while preserving the surface finish quality. The main idea is to estimate the contact area between the workpiece and the tool by using 3D point cloud approach and replicate a given material removal ra…
This paper demonstrates a visual servoing method which is robust towards uncertainties related to system calibration and grasping, while significantly reducing the peg-in-hole time compared to classical methods and recent attempts based on deep learning. The proposed visual servoing method is based
In this paper we present an initial approach towards reversible robot movement primitives. Our approach is a modification of Dynamic Movement Primitives (DMPs), a widely used framework for robot learning from demonstration. DMPs are based on dynamical systems to guarantee properties such as converge…
This paper presents a method for numerically computing the highest path velocity that a collaborative robot can attain, while complying with safety requirements. The safety requirements are obtained from ISO/TS 15066 that describes a collaborative method called power and force limiting, which specif…