13 accepted papers
Inertial parameters should be estimated accurately for precise robot control and simulation. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Exciting motions</i>, motions that sufficiently excite all robot dynamics, must be generated to obtain these
Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between training and real-world environments. This paper focuses on
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0 which focuses on human-centric approaches. However few studies explore the practical alignment of pHRI to industrial grade performance. This paper introduces a versatile control framework designed to bridge this gap by…
This study introduces a novel approach to Humanoid Robot Motion Generation using Functional Principal Component Analysis (FPCA) within the framework of Direct Optimal Control (DOC). FPCA efficiently compresses high-dimensional motion data, including ground reaction forces, into a low-dimensional spa
This article presents a novel software architecture enabling the analysis of assembly actions from fine-grained hand motions. Unlike previous works that compel humans to wear ad-hoc devices or visual markers in the human body, our approach enables users to move without additional burdens. Modules de…
The majority of humanoid robots adopt flat feet, a choice that can limit their performance when maneuvering over uneven terrains. Recently, a soft robotic foot designed to adapt to the ground was proposed to overcome part of these limitations. This paper presents the results of testing two such feet
Research in biomechanics hypothesizes that human motion is optimal with respect to an unknown cost function that varies depending on the action and/or task. This unknown cost function is often approximated as the weighted sum of a set of features or basis cost functions. As a person performs a seque…
In future robotic applications in environments such as nursing houses, construction sites, private homes, etc, robots might need to take unpredicted physical actions according to the state of the users to overcome possible human errors. Referring to these actions as active physical human-robot inter
Knowledge of the mass and inertial parameters of a humanoid robot is crucial for the development of model-based controller and motion planning in dynamics situation. Parameters are usually provided from Computer Aided Design (CAD) data and thus inaccurate specially if the robot is modified over time…
The rapid advancement of robotics poses the problem of a deep integration of robotic systems in human environments. In order to achieve this symbiosis between humans and robots, the artificial systems have to take into account one of the most important aspects in human life: emotions. The recognitio…
This paper presents a novel optimization method for generating persistently exciting trajectories for inertial parameters identification of a robot. The exciting performance of the trajectories is usually evaluated by the condition number of the regressor matrix, which appears in the linear regressi…
In this paper we present a real-time method for identification of the dynamic parameters of a manipulator and its load using kinematic measurements and either joint torques or force and moment at the base. The parameters are estimated using the Extended Kalman Filter and constraints are imposed usin…
The mass parameters of robots influence performances of model-based control and validation of the simulation results. The mass parameters provided by CAD data are usually rough approximation of the true parameters. Therefore several methods for estimation of those parameters have been proposed. Thei…