8 accepted papers
The presented work tackles the question of quantifying the pose deviations of robots subject to external disturbance forces. While this question may not be central for large robots perfectly rejecting disturbances through high controller gains, it is an important factor when considering collaborativ…
Inverse optimal control (IOC) is a framework used in many fields, especially in robotics and human motion analysis. In this context, various methods of resolution have been proposed in the literature. This article presents Projected Inverse Optimal Control (PIOC), an approach that offers a simple an…
Inverse Optimal Control (IOC) is a popular method for human motion analysis. In the context of these methods it is necessary to pay attention to the reliability of the results. This paper proposes an approach based on the evaluation of Karush-Kuhn-Tucker conditions relying on a complete analysis wit…
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…
Despite the many advances in collaborative robotics, collaborative robot control laws remain similar to the ones used in more standard industrial robots, significantly reducing the capabilities of the robot when in proximity to a human. Improving the efficiency of collaborative robots requires revis…
In this work, a robotic assistance strategy is developed to improve the safety in an artisanal task that involves a strong interaction between a machine-tool and an operator. Wood milling is chosen as a pilot task due to its importance in carpentry and its accidentogenic aspect. A physical model of…