10 accepted papers
Physical Human–Robot Interaction (pHRI) requires control frameworks that balance accuracy, compliance, and safety under variable human behaviors. This paper proposes a novel Model Predictive Variable Admittance (MPVA) framework that integrates trajectory tracking, interaction force directionality, a…
Physical Human–Robot Interaction (pHRI) occurs in industrial, medical, domestic, search and rescue, and other domains, requiring controllers that balance safety and performance for effective collaboration. In this context, this paper presents a real-time novel Model Predictive Variable Admittance (M
This paper introduces a shared control framework designed specifically for agricultural mobile manipulators engaged in harvesting operations. The shared control strategy allows for achieving such operations by dynamically exchanging the control between the robotic system and a human operator dependi…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. While this integration has the potential to provide various benefits, it also raises questions about how to effectively manag…
The paper presents a shared control architecture for robotic systems commanded through a motor imagery based Brain-Computer Interface (BCI). The overall system is aimed at assisting people to perform teleoperated manipulation tasks, and it is structured so as to leave different levels of autonomy to…
In this paper an experimental study of set-based task-priority kinematic control for a dual-arm mobile robot is developed. The control strategy for the coordination of the two manipulators and the mobile base relies on the definition of a set of elementary tasks to be properly handled depending on t…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be satisfied with a set/range of values can be addressed in a rig…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that allows the manipulator's motion while respecting constraints def…
Within the European project DexROV the topic of underwater intervention is addressed. In particular, a remote control room is connected through a satellite communication link to surface vessel, which is in turn connected to an UVMS (Underwater Vehicle-Manipulator System) with an umbilical cable. The…
In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based on a lightweight robot manipulator, receives high level com…