4 accepted papers
The use of drones in human-populated areas is increasing day by day. Such robots flying in close proximity to humans and potentially interacting with them, as in object handover or delivery, need to carefully plan their navigation considering the presence of humans. We propose a humanaware 3D reacti…
In this article, we consider the problem of delivering an object to a human coworker by means of an aerial robot (AR). To this aim, we present an ergonomics-aware Nonlinear Model Predictive Control (NMPC) designed to autonomously perform the handover. The method is general enough to be applied to an…
As humans and robots work more and more closely, robots must quickly react to unforeseen human behavior. Online Trajectory Generation (OTG), based on simple trajectory models like series of polynomial cubic functions, has demonstrated its efficiency to plan and control reactive motions of robots. Ho…
This paper aims to smooth jerky trajectories for high-DOF manipulators with Soft Motion [1] shortcuts which are bounded in velocity, acceleration and jerk. The algorithm presented here iteratively picks two points on the trajectory and attempts to replace the intermediate trajectory with a shorter a…