9 accepted papers
The increasing complexity of tasks performed by hybrid aerial robotic systems, such as tail-sitters, demands a more integrated approach to their design. Traditional sequential design methods fall short because they separate the control system design from the conceptual design, limiting the poten-tia
Precise identification of dynamic models in robotics is essential to support dynamic simulations, control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the development and identification of friction models for robotic joints, given the numerous phy
Industrial robots are capable of moving at high speed. Each time they come into contact with their environment, e.g. to pick up an object, they decelerate to a near standstill. A solution involving a compliant pneumatic gripper and adapted trajectory plan is presented to initiate contact at a higher…
This paper presents a new tactile sensor that utilizes an array of barometric pressure sensors encased in a deformable rubber sphere. Designed as an end effector foot of the legged quadruped robot Unitree Go1, the proposed sensor is able to withstand repeated impacts of at least 40 N at the feet. Ta
We present a novel variational framework for performing inference in (neural) stochastic differential equations (SDEs) driven by Markov-approximate fractional Brownian motion (fBM). SDEs offer a versatile tool for modeling real-world continuous-time dynamic systems with inherent noise and randomness…
Soft tactile sensing technologies provide the potential to endow a sense of touch to robots for grasping and manipulating objects. During the execution of such tasks, having accurate knowledge on the contact location and quantitative forces in broad exerted force ranges is key. For industrial adopti
Faster robotic picking of objects can improve industrial production throughput. A gripper design with appropriate control strategy is demonstrated to pick objects at high speed, while being tolerant to unintentional collisions. The design has a quasi–direct drive with backdrivable, rigid finger mech
A hybrid high-speed industrial collaborative robot can switch between collaborative mode and high-speed mode, combining the advantages of both. While promising, this concept comes with some challenges such as dealing with collisions at high speed. An overload clutch with integrated torque sensing an
Industrial robots can collide due to malfunctioning, wrong user input or unforeseen changes in the environment in which they operate. Different solutions exist to minimize the damage caused by a collision, either absorbed by the environment or by the robot itself. The specific solution depends on th