11 accepted papers
This paper develops algorithms for planning time-optimal pick-and-place trajectories for multiple cylindrical containers filled with liquid and simultaneously transported by a robot. The considered trajectories comprise 3D translations combined with a 1D rotation about the vertical direction, i.e. S
This paper develops algorithms for planning time-optimal pick-and-place trajectories for multiple cylindrical containers filled with liquid and simultaneously transported by a robot. The considered trajectories comprise 3D translations combined with a 1D rotation about the vertical direction, i.e. S…
In robotics, Learning from Demonstration (LfD) aims to transfer skills to robots by using multiple demonstrations of the same task. These demonstrations are recorded and processed to extract a consistent skill representation. This process typically requires temporal alignment through techniques such
The interest in Physical Human-Robot Interaction (pHRI) has significantly increased over the last two decades, thanks to the availability of collaborative robots that ensure user safety during force exchanges. For this reason, stability concerns remain a key issue in the literature whenever new cont
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the reference target position to the nearest point relative to the curre
Nowadays, an increasingly diversification of products and production lines would largely benefit from intuitive and multimodal robot teaching strategies. The present article proposes an augmented kinesthetic teaching system, which is based on surface electromyographic (sEMG) measurements from the op
In this paper, the problem of suppressing sloshing dynamics in liquid handling robotic systems has been faced by designing a dynamic filter that starting from the desired motion of the liquid container calculates the complete position/orientation trajectory for the robot end-effector. Specifically,…
The gap between human waiters and state-of-the-art robot systems that try to serve something to drink is often embarrassing, with the former able to manipulate glasses and trays or glasses on trays with incredible dexterity and the latter that move at incredible slowness. In this video, we want to s…
This paper presents a feed-forward approach to reduce sloshing dynamics in liquid handling robotic systems. According to our solution, the dynamics of a liquid into an open vessel manipulated by a robot can be described by means of a spherical pendulum mechanical model. By doing this, the sloshing p…
This paper presents a new feedforward controller based on a continuous-time finite impulse response filter, designed to minimize the vibrations that usually affect robot manipulators with elastic joints. In particular, Variable Stiffness Joints (VSJ) robots are considered, since they are usually cha…
In this paper, a novel repetitive control scheme is presented and discussed. The general framework is the control of repetitive tasks of robotic systems or, more in general, of automatic machines. The key idea of the proposed scheme consists in modifying the reference trajectory provided to the plan…