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08/07/2023
Feasibility Retargeting for Multi-contact Teleoperation and Physical Interaction
This short paper outlines two recent works on multi-contact teleoperatio...
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06/20/2022
Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
Medical robotics can help improve and extend the reach of healthcare ser...
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06/01/2022
Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control
This work developed collaborative bimanual manipulation for reliable and...
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09/09/2021
Fine Manipulation and Dynamic Interaction in Haptic Teleoperation
Teleoperation of robots enables remote intervention in distant and dange...
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09/09/2021
Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation
Robust dynamic interactions are required to move robots in daily environ...
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08/10/2021
Robust and Dexterous Dual-arm Tele-Cooperation using Fractal Impedance Control
Deploying robots from isolated operations to shared environments has bee...
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07/06/2021
Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators
Robots are moving towards applications in less structured environments, ...
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06/20/2021
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Haptic interaction is essential for the dynamic dexterity of animals, wh...
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03/08/2021
Exploiting Spherical Projections To Generate Human-Like Wrist Pointing Movements
The mechanism behind the generation of human movements is of great inter...
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12/01/2020
Theoretical Evidence Supporting Harmonic Reaching Trajectories
Minimum Jerk trajectories have been long thought to be the reference tra...
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11/01/2020
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Path planning and collision avoidance are challenging in complex and hig...
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08/28/2020
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
Legged robot locomotion requires the planning of stable reference trajec...
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04/06/2020
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
The deployment of robots in industrial and civil scenarios is a viable s...
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04/01/2020
Robots in the Danger Zone: Exploring Public Perception through Engagement
Public perceptions of Robotics and Artificial Intelligence (RAI) are imp...
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03/03/2020
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
The ability of animals to interact with complex dynamics is unmatched in...
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03/03/2020
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
Robot teleoperation has been proposed as a solution to perform complex t...
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02/27/2020
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers
Safe and compliant control of dynamic systems in interaction with the en...
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02/24/2020
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots
Legged robots have great potential to perform loco-manipulation tasks, y...
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11/12/2019
Fractal Impedance for Passive Controllers
During the last decade, there has been increasing interest in new contro...
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08/15/2019
Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization
Dynamic trajectory optimization is a popular approach for generating opt...
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02/19/2019
Analytic Model for Quadruped Locomotion Task-Space Planning
Despite the extensive presence of the legged locomotion in animals, it i...
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08/31/2018
Bioinspired Straight Walking Task-Space Planner
Although the attention on bipedal locomotion has increased over the last...
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05/23/2018
Deployment of the Saddle Space Transformation in Tracking the Base of Support
Balance is the fundamental skill behind human locomotion, and its impair...
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02/10/2018