5 accepted papers
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full nonlinear dynamic model to achieve an accurate and robust wrench …
This paper investigates the use of Hybrid Impedance and Admittance controllers for navigating an accuracy/stability trade-off in haptic devices. Typically, sensitivity to modelling error in Impedance control (IC) and force sensor error in Admittance control (AC) is reduced by increasing the desired
This article presents a novel framework called Simultaneous Registration and Machining (SRAM), a generalized method to improve workpiece registration using real-time acquired data in robotic contouring applications. The method allows for online corrections to the toolpath, while a live covariance es…
Based on the recent advances of Deep Reinforcement Learning (DRL) and promising results, in this paper, we propose a framework for strict priority assignment in the context of kinematic control of redundant robots. The presented method focuses on redundant robots performing multiple concurrent tasks
The current paper proposes a control methodology for ensuring safety during human-robot interaction based on a compliant sensor covering the robot links as a lightweight shell. The method can be used with existing robots without the need for mechanical redesign. To assess the behaviour of the propos…