4 accepted papers
Grasping fragile objects in the presence of un-certainty is a crucial task for robots, that becomes inherently challenging if the manipulator in use is an industrial robot platform that does not provide compliant control inputs. This requires not only to estimate the alignment error during object co…
Redundant robots offer the possibility of improving agility, compared to their non-redundant counterparts, by exploiting the additional kinematic DOFs to increase a measure called manipulability. While it is common to maximize the manipulability measure during redundancy resolution locally, global o…
With the integration of Human-Robot Collaboration (HRC) in industrial assembly scenarios, robot systems face numerous challenges. In contrast to classic robot systems which follow a pre-programmed and fixed sequence of actions, an interaction scenario with humans in the loop requires mutual adaptati…
With the increasing demand of humans and robots collaborating in a confined workspace, it is essential that robots can react instantaneously to unforeseen events while respecting comfort of human co-workers. As the human pays especial attention to the end-effector movement rather than individual joi…