18 accepted papers
In this article, an optimal controller for achieving constrained admittance control is proposed. This controller strictly adheres to the constraint boundaries while ensuring minimal variations in kinematic energy. The proposed method integrates admittance control for human-robot interaction with the
Ensuring safe and effective physical human-robot interaction (pHRI) remains a critical challenge in industrial robotics, particularly in ensuring compliance with ISO/TS 15066 safety standards. This paper proposes a novel framework to achieve a safe and robust physical human-robot interaction (pHRI).
Within the context of Robotic Minimally Invasive Surgery (R-MIS), we propose a novel linear model predictive controller formulation for the coordination of multiple autonomous robotic arms. The controller is synthesized by formulating a linear approximation of non-linear constraints, which allows th…
ISO/TS 15066 is globally recognized as the guideline for designing safe collaborative robotic cells, where human and robot collaborate in order to fulfill a common job. Current approaches for implementing the ISO/TS 15066 guidelines lead to a conservative behavior (e.g. low velocity) of the robot an
Percutaneous nephrolithotomy (PCNL) is considered the gold standard for the treatment of patients with renal stones larger than 20 mm in diameter. The success and treatment outcomes of the surgery are very well known to be highly dependent on the precision and accuracy of the puncture step, since it
In this paper we present a novel strategy for motion planning of autonomous robotic arms in Robotic Minimally Invasive Surgery (R-MIS). We consider a scenario where several laparoscopic tools must move and coordinate in a shared environment. The motion planner is based on a Model Predictive Controll…
In this paper, a two-layer architecture for the bilateral teleoperation of multi-arms systems with communication delay is presented. We extend the single-master-single-slave two layer approach proposed in [1] by connecting multiple robots to a single energy tank. This allows to minimize the conserva…
The development of robotic systems with a certain level of autonomy to be used in critical scenarios, such as an operating room, necessarily requires a seamless integration of multiple state-of-the-art technologies. In this paper we propose a cognitive robotic architecture that is able to help an op…
The possibility of adapting online the way a robot interacts with the environment is becoming more and more important. In this paper we introduce the tank based admittance controller. We show that all the admittance controllers can be modeled as an energy optimization problem and then we introduce a…
The raise of collaborative robotics has allowed to create new spaces where robots and humans work in proximity. Consequently, to predict human movements and his/her final intention becomes crucial to anticipate robot next move, preserving safety and increasing efficiency. In this paper we propose a…
In order to make robot programming more easy and immediate, walk-through programming techniques can be exploited. However, a modification of a portion of the trajectory usually means to execute the path from the beginning. In this paper we propose a passivity-based framework to modify the trajectory…
The paper describes an estimation and identification procedure that allows to reconstruct the inertial parameters of a rigid load attached to the end-effector of an industrial manipulator. In particular, the proposed method adopts a multirate quaternion-based Kalman filter, fusing measurements obtai…
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely used and the appropriate selection of the its parameters is cr…
The paper describes a control architecture for industrial robotic applications allowing human/robot interactions, using an admittance control scheme and direct sensing of the human inputs. The aim of the proposed scheme is to support the operator of an industrial robot, equipped with a force/torque
Admittance control is a widely used approach for guaranteeing a compliant behavior of the robot in physical human-robot interaction. When an admittance-controlled robot is coupled with a human, the dynamics of the human can cause deviations from the desired behavior of the robot, mainly due to a sti…
Wave variables are a very popular approach for dealing with communication delay in bilateral teleoperation because of their effectiveness and of their simplicity. Nevertheless, the inherent dynamics of wave based communication channels is often deleterious for the transparency of the teleoperation s
Because of their simplicity, wave variables have become almost a standard strategy for stabilizing delayed bilateral teleoperation systems. However, the price to pay for a stable behavior is a degradation in the performance of the teleoperation system. Recently, more flexible and transparency orient…
The paper describes a passivity based approach to the generation of virtual fixtures for robotic teleoperation schemes involving multiple masters and multiple slaves. Virtual fixtures considered in the paper aim to guide the user towards a geometric path, which is assumed to be collision-free by des…