5 accepted papers
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the end-effector but at other points along the robot’s body. Such scenario…
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes for practical applications, yet they do not discuss how these shapes can be consistently achieved through manipulation pl
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need for costly sensors. However, these approaches show limitatio
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis force/torque (F/T) sensor is installed between the robot's wrist and the end effector to measure the forces and torques exerted by the environment on the robot (the external wrench). While a typical 6-
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of being expensive and vulnerable to impacts. To address these…