4 accepted papers
Ensuring safety in robotic manipulation is increasingly critical as robots become integrated into human-shared environments for complex physical interaction tasks. This paper presents an energy-aware control framework that combines active responses with passive compliance for safety-critical robotic
Ensuring safety in robotic manipulation is increasingly critical as robots become integrated into human-shared environments for complex physical interaction tasks. This paper presents an energy-aware control framework that combines active responses with passive compliance for safety-critical robotic…
Impedance control can be achieved within a model predictive control (MPC) framework for optimization and constraint compliance. However, user-defined or optimization-derived impedance models can be too conservative to achieve a timely convergence, or too aggressive to ensure safety. To address this,
As one of the most fundamental control modes in robotics, force/torque (F/T) control plays an essential role in a wide range of applications. However, classical F/T control fails to offer effective means to regulate the convergence sequence of the controlled states, which is beneficial in many real-