5 accepted papers
Object handover is a common form of interaction widely used in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex changes in object pose during human-to-robot object handovers. We propose
We present a decentralized, agent agnostic, and safety-aware control framework for human–robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped workspace, where motion is the result of the interaction with v…
Collaborative robots (cobots) are a promising technology for frontline workers in industry. They can support tasks that cannot be fully automated but are repetitive, fatiguing, boring, or dangerous for humans. Although cobots are explicitly designed to work with humans, they remain primarily non-int…
Virtual Model Control (VMC) is an approach to design a controller for force-controlled robots in complex uncertain environments. While this method was primarily investigated for legged robot locomotion in the past, it can be more generally applicable to other types of robotic systems. This paper inv…
Fine manipulation is important in dexterous tasks executed via teleoperation, including in robot-assisted surgery. Discovering fundamental laws of human movement can benefit the design and control of teleoperated systems, and the training of their users. These laws are formulated as motor invariants