7 accepted papers
Compliant actuation bestows robots with the ability to cope with unstructured environments, move with agility, and interact safely with humans at the expense of reduced tracking accuracy. The inclusion of dampening components aims to reduce oscillatory dynamics and partially restore precision withou…
Robots face the eventuality of falling. Unplanned events, external disturbances and technical failures may lead a robot to a condition where even an effective dynamic stabilization is not sufficient to maintain the equilibrium. Therefore, it is essential to equip robotic platforms with both active a
In this work, we investigate the behavior of artificial hands under impulsive load conditions. Resilience to impacts has been seldom considered in grasp and manipulation literature and benchmarks, although it is one of the most relevant issues in a number of applications involving physical interacti
The increasing presence of high density logistic warehouses demands the deployment of fast and flexible robotic solutions. One of the open challenges toward this objective is manipulation in narrow settings. This work addresses such a problem from a design perspective. By observing human arm dexteri
The deployment of robotics in real-world scenarios, which may involve harsh and irregular physical interactions with the environment, such as those when robots operating in a disaster scenario, or the interactions that prosthetic devices may experience, demands hardware, which is physically resilien
The deployment of robots to assist in environments hostile for humans during emergency scenarios require robots to demonstrate enhanced physical performance, that includes adequate power, adaptability and robustness to physical interactions and efficient operation. This work presents the design and
In this paper, we propose an Energy based Fall Prediction (EFP) which observes the real-time balance status of a humanoid robot during standing. The EFP provides an analytic and quantitative measure of the level of balance. Both simulation and experimental studies were conducted and compared with th…