8 accepted papers
Robots have surpassed humans in terms of strength and precision, yet humans retain an unparalleled ability for decision-making in the face of unpredictable disturbances. This article aims to combine the strengths of both entities within a singular task: human motion guidance under strict geometric c
One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approach is lightweight, versatile (suitable for a…
There exist robotic tasks such as cumbersome object manipulation for which one arm alone is not sufficient and a team of robots should be employed. For such a multi-manual system, a control policy must be defined to meet the task objective. This letter presents a modular uni-arm control law for a mu
We discuss a novel method for estimating task Cartesian position and velocity in robot manipulators. This is done by model-based fusion of inertial measurement units with motor encoders. The model is developed to robustly handle the uncertainties in the trajectory. Thus, not only the approach benefi…
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 this letter, we introduce a novel regressor-based observer method to adapt an initially erroneous dynamics model of serial manipulators for improving collision detection sensitivity. Specifically, we assume that the robot joint velocity and acceleration can be accurately estimated via our previou
In this letter a novel method for accurate and high-bandwidth real-time monitoring of robot collisions is presented. To the authors' knowledge this is the first time the so called direct method, which is mathematically the simplest and theoretically the ideal one, has been realized at practically re
This paper deals with the problem of accurately computing and estimating joint velocity and acceleration in robotic manipulators. Generally, it is well known that numerical differentiation of noisy position signals even with significant filtering is no viable solution. This is especially true for co…