14 accepted papers
This letter proposes a control framework for dual-arm robotic manipulation of a common workpiece, with the objective of tracking a reference trajectory for the object while minimizing the internal stress on it using pose/force controllers. The visual-tactile observations provided by the individual r
Robotic manipulation of objects in cluttered dynamic scenes is challenging for a twofold reason. Object detection and localization are complex due to partial occlusions and high variability in the object classes and manipulation in tight spaces is difficult due to potential collisions. The present l…
Robotic manipulation of objects in cluttered dynamic scenes is challenging for a twofold reason. Object detection and localization are complex due to partial occlusions and high variability in the object classes and manipulation in tight spaces is difficult due to potential collisions. The present l
Many control algorithms devised to allow redundant robots to execute complex multiple tasks with priorities require a numerical inverse kinematics (IK) solver. The present letter investigates the conditions that, if satisfied, guarantee that a specific module of closed-loop numerical IK solvers, whi
Visual control based on image features has received much attention for its inherent robustness against camera calibration errors, modelling uncertainties and the capability to keep the object in the Field of View (FoV) of the camera. Nevertheless, some drawbacks related to the basin of convergence a
The main purpose of this letter is to demonstrate that smart exploitation of force/tactile feedback can enable successful physical cooperation of two robot manipulators to handle a common object with a high degree of dexterity. The novelty of the letter is that dexterity is provided not only by the
A robust grasp controller for both slipping avoidance and controlled sliding is proposed based on force/tactile feedback only. The model-based algorithm exploits a modified LuGre friction model to consider rotational frictional sliding motions. The modification relies on the Limit Surface concept wh…
Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those needed in the in-store logistics domain. Supermarkets conta
Parallel jaw grippers have a limited dexterity, however they can still be used for in-hand manipulation tasks, such as pivoting or other controlled sliding motions of the grasped object. A rotational sliding maneuver is challenging since the grasped object can easily slip if the grip force is not pr…
In-hand manipulation is certainly one of the most challenging problems in robotic manipulation. Solutions to this problem depend on the specific device used to grab the object, but nowadays, the trend is to exploit not only the gripper but also external constraints, such as other objects in the envi…
In this work, we propose a framework to deal with cross-modal visuo-tactile object recognition. By cross-modal visuo-tactile object recognition, we mean that the object recognition algorithm is trained only with visual data and is able to recognize objects leveraging only tactile perception. The pro…
In this letter, a new sensorized flexible skin has been used to enhance safety and intuitiveness of physical human-robot interaction (HRI) in applications where both intentional and unintentional contacts may occur. The new technological contribution with respect to other skin sensors consists of th
This paper presents a novel approach for safeguarding a mobile manipulator. To overcome the shortcomings of state-of-the-art safeguarding techniques, we present a dynamic approach capable of covering different situations and adapting itself to the situation at hand. The proposed approach is based on…
This paper proposes an experimental study of slipping avoidance algorithms based on force/tactile perception data. The claim is that contact force measurements alone or tactile data alone are not sufficient for an effective slipping avoidance strategy in real world conditions. Integrated force/tacti…