3 accepted papers
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…
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…