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Edmundo Pozo Fortunić

5 accepted papers

2024

A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators

Sebastian Kuhn, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Kübra Karacan, Abdalla Swikir, Sami Haddadin
IROS 2024poster

Mobile manipulators (MM) have proven valuable in assisting humans in industrial settings. However, their strict separation from humans in controlled environments limits their effectiveness. Efforts have been made to bridge this gap for physical human-robot interaction (pHRI), leading to the developm…

Cited by 0Source ↗Scholar ↗
2024

Identification and validation of the dynamic model of a tendon-driven anthropomorphic finger

Junnan Li, Lingyun Chen, Johannes Ringwald, Edmundo Pozo Fortunić, Amartya Ganguly, Sami Haddadin
IROS 2024poster

This study addresses the absence of an identification framework to quantify a comprehensive dynamic model of human and anthropomorphic tendon-driven fingers, which is necessary to investigate the physiological properties of human fingers and improve the control of robotic hands. First, a generalized…

Cited by 0Source ↗Scholar ↗
2024

OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism

Sonja Groß, Michael Ratzel, Edgar Welte, Diego Hidalgo-Carvajal, Lingyun Chen, Edmundo Pozo Fortunić +3
IROS 2024poster

Recent advancements in artificial hand development have primarily concentrated on enhancing adaptive grasping, dexterity, as well as the integration of biomimetic skin. However, few designs have successfully combined lightweight, cost-effective solutions, and tactile sensing along with adaptive gras…

Cited by 0Source ↗Scholar ↗
2024

Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach

Dennis Ossadnik, Vasilije Rakčević, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Hugo T. M. Kussaba, Abdalla Swikir +1
ICRA 2024poster

Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic motions even with limited motor power. However, the time-depen…

Cited by 1Source ↗Scholar ↗
2022

Real-time IMU-Based Learning: a Classification of Contact Materials

Carlos Magno C. O. Valle, Alexander Kurdas, Edmundo Pozo Fortunić, Saeed Abdolshah, Sami Haddadin
IROS 2022poster

In modern highly dynamic robot manipulation, collisions between a robot and objects may be intentionally executed to improve performance. To distinguish between these deliberate contacts and accidental collisions beyond the limit of state-of-the-art human-robot interactions, new sensing approaches a…

Cited by 7Source ↗Scholar ↗