9 accepted papers
Manufacturing applications increasingly integrate visually aided robotic systems. Such systems must rely on excellent kinematic parameter calibration and a hand – eye matrix estimation to perform according to standards. The latter is as precise as the camera pose estimation capability and the roboti
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…
The problem addressed in this work is the arbitration of the role between a robot and a human during physical Human-Robot Interaction, sharing a common task. The system is modeled as a Cartesian impedance, with two separate external forces provided by the human and the robot. The problem is then ref…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on the human's state in the path planning phase could reduce fu
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…
Redundant manipulators are usually required to perform tasks in the operational space, but collision-free path planning is computed in the configuration space. Limiting the deviation with respect to the collision-free configuration-space trajectory may allow the robot to avoid collisions without mod
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 identification of the dynamic model of a robotic manipulator represents a fundamental step for designing high performance model-based controllers. Despite the huge number of works presented on this topic, the symbolic dynamic model reduction (i.e., the identification of the set of parameters obs…
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…