Rahaf Rahal — accepted AI-conference papers

2021

Bilateral Teleoperation With Adaptive Impedance Control for Contact Tasks

Youssef Michel, Rahaf Rahal, Claudio Pacchierotti, Paolo Robuffo Giordano, Dongheui Lee

RA-L 2021

This letter presents an adaptive impedance control architecture for robotic teleoperation of contact tasks featuring continuous interaction with the environment. We use Learning from Demonstration (LfD) as a framework to learn variable stiffness control policies. Then, the learnt state-varying stiff

Cited by 84 Source ↗Scholar ↗

2019

Haptic Shared-Control Methods for Robotic Cutting under Nonholonomic Constraints

Rahaf Rahal, Firas Abi-Farraj, Paolo Robuffo Giordano, Claudio Pacchierotti

IROS 2019poster

Robot-assisted cutting is considered an important task in several fields, such as robotic surgery, nuclear decommissioning, waste management, and manufacturing. Despite the complex dexterity requirements of cutting tasks, very simple mechanically-linked master-slave manipulators still dominate many…

Cited by 28 Source ↗Scholar ↗