Nikos A. Aspragathos — accepted AI-conference papers

2018

A Frequency Domain Approach for Contact Type Distinction in Human-Robot Collaboration

Alexandros Kouris, Fotios Dimeas, Nikos A. Aspragathos

RA-L 2018

This letter addresses the problem of distinguishing unexpected collisions from voluntary contacts during human-robot collaboration. The objective of this letter is to improve the safety of the operator during the interaction with the robot. Based on the observation that cooperation forces present di

Cited by 39 Source ↗Scholar ↗

2016

Manipulator performance constraints in Cartesian admittance control for human-robot cooperation

Fotios Dimeas, Vassilis C. Moulianitis, Charalampos Papakonstantinou, Nikos A. Aspragathos

ICRA 2016

This paper addresses the problem of providing feedback to the operator about the manipulator's performance during human-robot physical interaction. A method is proposed that implements virtual constraints in Cartesian admittance control in order to prevent the operator from guiding the manipulator t

Cited by 25 Source ↗Scholar ↗