18 accepted papers
Shared control aims at assisting human operators using robots in physically and cognitively demanding tasks which cannot be automated as they require human expertise and deliberative abilities. Sharing control for a given task typically involves blending algorithms that combine human control inputs …
This paper addresses the challenging problem of Semi-Constrained End-Effector Path Planning for robotic manipulators. This problem arises when complex specifications restrict the end-effector's motion during the execution of industrial tasks. Traditional path planning algorithms often struggle with
This letter addresses the challenging problem of Semi-Constrained End-Effector Path Planning for robotic manipulators. This problem arises when complex specifications restrict the end-effector’s motion during the execution of industrial tasks. Traditional path planning algorithms often struggle with…
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advantage of extensive simulations to produce efficient robot control. State-of-the-art servo actuator models generally fail a
The presented work tackles the question of quantifying the pose deviations of robots subject to external disturbance forces. While this question may not be central for large robots perfectly rejecting disturbances through high controller gains, it is an important factor when considering collaborativ…
Predicting the post-impact velocity for torque-controlled flexible-joint robots enhances impact-aware control schemes which exploit intentional collisions for achieving dynamic robotic manipulation and locomotion. Compared to a previous approach based on a fully rigid-robot assumption, this paper sh
Many recent human-robot collaboration strategies, such as <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Assist-As-Needed</i> (AAN), are promoting human-centered robot control, where the robot continuously adapts its assistance level based on the re
Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely approximate and underestimate the true capabilities. Force/velocity polytopes appear to be a more appropriate representatio…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping and pushing of objects. Starting from the recorded dynamic…
Despite the many advances in collaborative robotics, collaborative robot control laws remain similar to the ones used in more standard industrial robots, significantly reducing the capabilities of the robot when in proximity to a human. Improving the efficiency of collaborative robots requires revis…
In this work, a robotic assistance strategy is developed to improve the safety in an artisanal task that involves a strong interaction between a machine-tool and an operator. Wood milling is chosen as a pilot task due to its importance in carpentry and its accidentogenic aspect. A physical model of…
The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Reg
In this paper, a control solution featuring an energetic constraint is developed to improve the safety of a robotic manipulator sharing its workspace with humans. This general control structure, exploits a generic safe controller that ensures the respect of multiple constraints thanks to a Linear Qu…
In this paper, we propose a physically meaningful energy-related safety indicator for robots sharing their workspace with humans. Based on this indicator, a safety criterion accounting for the breaking capabilities of the robot is included as a quadratic constraint in the control algorithm. This con…
Redundant robots performing multiple tasks of different priority levels are often handled by hierarchical control frameworks. This paper proposes a general hierarchical control approach that can handle not only a single standard lexicographic hierarchy, but also a complex priority network involving…
Humanoid robots are expected to act in human environments, where some of the contacts can be non-rigid. A fairly large amount of work has been devoted to the whole-body control of humanoids under rigid contacts, but few of them take into account non-rigid contacts. Indeed, the handling of unknown co…
Whole-Body Control methods offer the potential to execute several tasks on highly redundant robots, such as humanoids. Unfortunately, task combinations often result in incompatibilities which generate undesirable behaviors. Prioritization techniques can prevent tasks from perturbing one another but…