Julian M. Salt Ducaju — accepted AI-conference papers

2024

Iterative Reference Learning for Cartesian Impedance Control of Robot Manipulators

Julian M. Salt Ducaju, Björn Olofsson, Rolf Johansson

IROS 2024poster

In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian reference of an impedance controller. Also, the conditions that ensure its convergen…

Cited by 0 Source ↗Scholar ↗

2023

Null-Space Compliance Variation for Safe Human-Robot Collaboration in Redundant Manipulators using Safety Control Barrier Functions

Julian M. Salt Ducaju, Björn Olofsson, Anders Robertsson, Rolf Johansson

IROS 2023poster

In this paper, Safety Control Barrier Functions (SCBFs) were used to adjust the null-space compliant behavior of a redundant robot to improve safety in Human-Robot Collaboration (HRC) without modifying the robot behavior with respect to its main Cartesian task. A Lyapunov function was included in an…

Cited by 1 Source ↗Scholar ↗