3 accepted papers
In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying stiffness tuning by performing Bayesian optimization by tria…
Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather than safety (or compliance). Thus, this paper proposes a nov…
In this paper, we control the walking direction of a subject using an assistive robotic device for the first time, using the internal/external rotation hip torque generated by our cross-wire assist suit to induce turning gait. The cross-wire assist device is a soft exosuit with four independently co…