7 accepted papers
In this work, we propose a novel formulation for energy tanks based on Control Barrier Functions (CBF). Our approach is able to handle simultaneously energy constraints to ensure passivity, as well as enforce power limits in the system to enhance safety. Furthermore, our approach overcomes the discr
In this work, we present a novel bilateral teleoperation architecture with variable impedance control for orientational contact tasks. We exploit Unit Quaternions and tools from Lie Theory to model and manipulate robot orientations, as well as Learning-from-Demonstration to learn a stiffness adaptat
This work presents a novel shared control architecture dedicated to teleoperated contact tasks. We use Learning from demonstration as a framework to learn a task model that encodes the desired motions, forces and stiffness profiles. Then, the learnt information is used by a Virtual Fixture (VF) to g
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however mainly focused on positions, neglecting the orientation part…
It lies in human nature to properly adjust the muscle force to perform a given task successfully. While transferring this control ability to robots has been a big concern among researchers, there is no attempt to make a robot learn how to control the impedance solely based on visual observations. Ra
This letter presents an adaptive impedance control architecture for robotic teleoperation of contact tasks featuring continuous interaction with the environment. We use Learning from Demonstration (LfD) as a framework to learn variable stiffness control policies. Then, the learnt state-varying stiff
Kinematic redundancy enhances the dexterity and flexibility of robot manipulators. By exploiting the redundant degrees of freedom, auxiliary null space tasks can be carried out in addition to the primary task. Such auxiliary tasks are often formulated in terms of a performance or safety criterion th…