14 accepted papers
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the higher number of degrees-of-freedom and the increased weight of the system, compared to the bipedal and quadrupedal count…
Envisioning the employment of rope-assisted humanoid robots to reduce human intervention for operations in the heights, this preliminary work addresses the modeling and motion planning problems for a rope-assisted bipedal robot. The mathematical features of this system outnumber the ones of typical…
This paper presents a framework providing a full pipeline to execute a complex physical interaction behaviour of a humanoid bipedal robot, both from a theoretical and a practical standpoint. Building from a multi-contact control architecture that combines contact planning and reactive force distribu…
In humanoid robotic platforms, classical inverse kinematics algorithms, based on L2-regularization of joint velocities or accelerations, tends to engage the motion of all the available degrees of freedom, resulting in movements of the whole robot structure, which are inherently not sparse. The role
This work deals with the kinematic control of Centauro, a highly redundant, hybrid wheeled-legged robot designed at Istituto Italiano di Tecnologia (IIT). Given its full wheeled mobility as allowed by its four independently steerable wheels, the choice of some local frame (in addition to the global
Performing a demanding manipulation task with a multi-legged loco-manipulation platform may require the exploitation of multiple external contacts with different environment surfaces for counteracting the manipulation forces. This is the case of the pushing task of a heavy object, where the grip for
Multi-legged humanoid platforms present an inherent redundancy in the number of end-effectors required to perform interaction tasks, such as balancing and manipulation. The most relevant possibility opened up by end-effector redundancy consists in using a subset of the available end-effectors to per
Standard control design for robot implicit force control is a typical example of model-based regulator synthesis. This paper proposes a method to improve closed-loop performance of standard model-based controllers for robot implicit force control in terms of closed-loop model matching, between desir…
This paper addresses the problem of robot implicit force control by means of set invariance theory. The proposed control law improves the invariance control approach by avoiding the definition of a nominal stabilizing controller, while simultaneously ensuring the absence of output overshoots with re
In this work a constraint-based control approach is proposed in order to perform a cap rotation task with a dual-arm robot. The method relies on the introduction of a robust specification for the constraint on the interaction force arising during the task, accounting for robot-environment contact mo…
The present paper exploits set invariance theory to address the problem of robot implicit force control in presence of stiffness uncertainty in the interaction model. A numerical approach is introduced to compute the invariance function for constraints with arbitrary relative degree. The method is t…
Classical control approaches to robot force control have been extensively addressed by research in the last decades and are now considered a paradigm when dealing with force control for industrial robots. With this respect, the present paper exploits the capability of state-of-the-art Quadratic Prog…
Fast and sensorless peg-in-hole insertion is a challenging task for a robotic manipulator. In order to deal with the peg-in-hole insertion problem without any need of an external force/torque sensor, this paper proposes to actively accomplish compliance in the insertion task relying on an admittance
Enabling human-robot collaboration raises new challenges in safety-oriented robot design and control. Indices that quantitatively describe human injury due to a human-robot collision are needed to propose suitable pre-collision control strategies. This paper presents a novel model-based injury index…