Jozsef Kovecses

Hybrid Contact Dynamics and Residual-RL Framework for Multi-Point Object Pushing

Robotic contact manipulation involves applying controlled forces at contact points to guide an object along a desired trajectory while respecting the underlying physical interactions. This paper presents a novel framework that integrates dynamic modeling and Reinforcement Learning (RL) to achieve ro…

Koopman Representation of Nonlinear Virtual Environments in Kinesthetic Haptic Systems

Rendering haptic feedback with nonlinear virtual environments (VEs) is important in many applications that require highly accurate force feedback. This paper considers the use of the Koopman operator to represent a nonlinear VE interacting with a haptic system. Simulation and experimental results de…

Modelling and Digital Twin Framework for Highly Compliant Soft Robotic Systems