11 accepted papers
This work presents a novel and efficient non-linear programming framework that tightly integrates hierarchical decision-making with inverse kinematic planning and control. Decision-making plays a central role in many aspects of robotics, from sparse inverse kinematic control with a minimal number of…
This article proposes a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining the robot's upper body stability. The framework contains a bi-level control strategy. The outer level is a variable-damping impe
With the rapid growth of Massive Open Online Courses (MOOCs), it is expensive and time-consuming to extract high-quality knowledgeable concepts taught in the course by human effort to help learners grasp the essence of the course. In this paper, we propose to automatically extract course concepts us…
Safely generating impacts is challenging due to subsequent discontinuous velocity jumps and high impact forces. For this reason, state-of-the-art multi-robot controllers performing collaborative object manipulation typically approach contacts with low relative velocities. We instead aim for high-spe
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made models for manipulators mounted on a fixed base. Focusing on orthogonal point-to-surface impacts (no tangential v
In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential to enforce controller feasibility and hardware integrity. We observe a considerable prediction error of a commonly-used approach in robotics compared against 250 benchmark experiments with the Panda mani
Almost all known robots fear impacts. Unlike humans, robots keep guarded motions to near zero-velocity prior to establishing contacts with their surroundings. This significantly slows down robotic tasks involving physical interaction. Two main ingredients are necessary to remedy this limitation: imp…
Accurate kinematic models and measurements are needed in many robotic applications. However uncertainties related to joint angle measurements and manipulator geometry are unavoidable, especially when grasping and using different tools or when we do not have access to an accurate robot model, e.g. wh…
Teleoperation of a mobile robot manipulating and exploring an object shares many similarities with the manipulation of virtual objects in a 3D design software such as AutoCAD. The user interfaces are however quite different, mainly for historical reasons. In this paper we aim to change that, and dra
Constraint based programming provides a versatile framework for combining several different constraints into a single robot control scheme. We take advantage of the redundancy of a robot manipulator to improve the execution of a reactive tracking task, in terms of a task-dependent measure which is a…
In the future mobile dual-arm robots are expected to perform many tasks. Kinematically, the configuration of two manipulators that branch from the same common mobile base results in a serial-to-parallel kinematic structure, which makes inverse kinematic computations non-trivial. The motion of the ba…