17 accepted papers
To speed up and reduce power consumption per cycle in robotic manipulation, one option is to exploit intentional collisions with the surrounding environment and objects, an approach referred to as impact-aware manipulation. Within this context, this paper focuses on developing an online collision mo
Limited resources and resulting energy crises occurring all over the world highlight the importance of energy efficiency in technological developments such as robotic manipulators. Efficient energy consumption of manipulators is necessary to make them affordable and spread their application in the f
Compliance with global guidelines for sustainable and responsible production in modern industry requires a comparative analysis of consumer devices' energy consumption (EC). This also holds true for the newly established generation of lightweight industrial robots (LIRs). To identify potential strat…
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control over energy transfer timing. To overcome this problem on th
Strategies for safe human-robot interaction (HRI), such as the well-established Safe Motion Unit, provide a velocity scaling for biomechanically safe robot motion. In addition, psychologically-based safety approaches are required for trustworthy HRI. Such schemes can be very conservative and robot m…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynam…
In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation towards the robot, however, are typically neglected. Even if the robot behaviour is regarded as biomechanically safe, human
Kinesthetic teaching of collaborative robots is applied for intuitive and flexible robot programming by demonstration. This enables non-experts to program such robots on the task-level. Multiple strategies exist to teach velocity- or torque-controlled robots and, thus, the maneuverability among comm…
In physical human-robot interaction (pHRI), safety is a key requirement. As collisions between humans and robots can generally not be avoided, it must be ensured that the human is not harmed. The robot reflected mass, the contact geometry, and the relative velocity between human and robot are the pa…
Knowledge of the robot's load inertial parameters is indispensable for accurate and safe operation, especially in collaborative robotics. However, an intuitive method for online inertial payload identification, usable while the robot is executing another online generated task, is still lacking. In t…
In modern highly dynamic robot manipulation, collisions between a robot and objects may be intentionally executed to improve performance. To distinguish between these deliberate contacts and accidental collisions beyond the limit of state-of-the-art human-robot interactions, new sensing approaches a…
In physical human-robot interaction (pHRI), robots need to detect and react to intended and unintended contacts in a safe manner. Proprioceptive sensing capabilities and collision detection and identification techniques differ among commercially available robots, which means that also their sensitiv…
The rise of collaborative robotics has offered new opportunities for integrating automation into the factories, allowing robots and humans to work side-by-side. However, this close physical coexistence inevitably brings new constraints for ensuring safe human-robot cooperation. The current paramount
Improving robot systems via newly-developed sensing devices, control algorithms, or state estimators in order to obtain safe and efficient human-robot interaction as well as tactile manipulation skills requires standardized performance measurement protocols for objective comparison. Common protocols…
In practical robotic applications various types of tools are attached for manipulating objects. Besides adding gravitational load to the robot, which results in larger joint torques, such payloads influence the collision safety characteristics through changing surface curvature properties, reflected…
Strategies for reducing fall-related injuries have been assessed through biomechanical studies and employed in robotics. A better understanding of the mechanism of such fall arresting methods can help fall prevention programs to reduce injuries and help robots to prevent damage to themselves. Rollov
Adaptive cable-driven parallel robots can adjust the position of one or more pulley blocks to optimize performance within a given workspace. Because of their augmented kinematic redundancy, adaptive systems have several advantages over their traditional counterparts featuring the same numbers of cab…