15 accepted papers
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to inherent task variability and the need for precise operations. This
Planning for contact-rich manipulation involves discontinuous dynamics, which presents challenges to planning methods. Sampling-based planners have higher sample complexity in high-dimensional problems and cannot efficiently handle state constraints such as force limits. Gradient-based solvers can s…
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is often extracted from CAD, limiting scalability and the abilit…
This letter proposes a novel force-based task-orientation controller for interaction tasks with environmental orientation uncertainties. The main aim of the controller is to align the robot tool along the main task direction (e.g., along screwing, insertion, polishing, etc.) without the use of any e
Exosuits are wearable technologies that improve physical capabilities and mobility providing support during various activities. Although primarily intended for medical rehabilitation, there is growing interest in utilizing exosuits in industrial environments to prevent work-related musculoskeletal d
Just like in humans vision plays a fundamental role in guiding adaptive locomotion, when designing the control strategy for a walking assistive technology, the use of computer vision may substantially improve modulation of the assistance based on the external environment. In this letter, we develope
This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, human intention is defined as the desired trajectory that the human wants to follow over a finite rolling prediction horizo…
Physical human-robot collaboration is increasingly required in many contexts. To implement an effective collaboration, the robot should be able to recognize the human’s intentions and guarantee safe and adaptive behavior along the intended motion directions. The robot-control strategies with such at…
In this work, we propose a method for trajectory implementation based on the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Learning by Demonstrations</i> approach to deal with trajectory planning issues in upper-limb rehabilitation exoskeletons. Cu
Production plants are being re-designed to implement human-centered solutions. Especially considering high added-value operations, robots are required to optimize their behavior to achieve a task quality at least comparable to the one obtained by the skilled operators. A manual programming and tunin…
Production plants are being re-designed to implement human-centered solutions. Especially considering high added-value operations, robots are required to optimize their behavior to achieve a task quality at least comparable to the one obtained by the skilled operators. A manual programming and tunin
Within the Industry 4.0 context, industrial robots need to show increasing autonomy. The manipulator has to be able to react to uncertainties/changes in the working environment, displaying a robust behavior. In this paper, a control framework is proposed to perform industrial interaction tasks in un…
Constrained optimal feedback controllers can be used to mitigate external perturbations and modeling errors in robot control. However, these controllers require extensive calculation that is one of their main limitations in real-time implementation. Here we present two locally optimal feedback contr
The letter presents a force-tracking impedance controller granting a free-overshoots contact force (mandatory performance for many critical interaction tasks such as polishing) for partially unknown interacting environments (such as leather or hard-fragile materials). As in many applications, the ro
The impedance shaping control with robot base dynamics compensation is presented in this paper. The method has been conceived to avoid force overshoots in applications where the coupled dynamics of the global system (compliant robot base - controlled robot - interacting compliant environment) affect…