6 accepted papers
Knowledge of the robot's load inertial parameters is indispensable for accurate and safe operation, especially in collaborative robotics. However, an intuitive method for online inertial payload identification, usable while the robot is executing another online generated task, is still lacking. In t…
In order to transform a robot into an intelligent machine it needs to be enabled to react to unforeseen events (most importantly collisions) during task execution and have a plan on how to continue the task afterwards. This requires a flexible operational framework that allows to define adaptive rea…
Similar to human work, robotic tasks sometimes require two hands to be accomplished. This requires coordinated motion planning and control. While fulfilling the task in a coordinated manner is already a big challenge, the task at hand becomes even harder when obstacles are introduced in the environm…
Humanoid robots in unknown environments need to be able to quickly react to contacts in order to ensure safety of humans and their own hardware. For showing useful reactions to contacts, the robot needs information about possibly multiple contacts such as their respective contact locations and wrenc…
High-performance collision handling, which is divided into the five phases detection, isolation, estimation, classification and reaction, is a fundamental robot capability for safe and sensitive operation/interaction in unknown environments. For complex humanoid robots collision handling is obviousl…
Soft robotics methods such as impedance control and reflexive collision handling have proven to be a valuable tool to robots acting in partially unknown and potentially unstructured environments. Mainly, the schemes were developed with focus on classical electromechanically driven, torque controlled…