6 accepted papers
In this work, a methodology to find the best view of a grape stem and approach angle in order to crop it is proposed. The control scheme is based only on a classified point cloud obtained by the in-hand camera attached to the robot’s end effector without continuous stem tracking. It is shown that th…
Kinesthetic teaching allows the direct skill transfer from the human to the robot and has been widely used to teach single arm tasks intuitively. In the bi-manual case, simultaneously moving both end-effectors is challenging due to the high physical and cognitive load imposed to the user. Thus, prev…
Kinesthetic teaching allows the direct skill transfer from the human to the robot through physical human-robot interaction. However, it is heavily affected by the robot’s dynamics and the control scheme utilized for the physical interaction. In this work, we aim at assisting the human-teacher by red…
In this work, a passive physical human-robot interaction (pHRI) controller is proposed to intraoperatively ensure that sensitive tissues will not be damaged by the robot's tool. The proposed scheme uses the point cloud of the restricted region's surface as constraint definition and Artificial Potent…
Bimanual assembly of two parts require that a relative target pose is reached prior to the joining operation. Rather than utilizing one arm as a fixture for holding one of the parts while the other performs the assembly, motion generation in the relative end-effector frame is proposed that involves…
The problem of real-time motion generation to a target with obstacle avoidance is considered. A second-order dynamical system having the target as a unique globally asymptotically stable equilibrium is modified in the presence of obstacles by an additive signal whose design is based on the prescribe