Zobrazeno 1 - 10
of 618
pro vyhledávání: '"CALDWELL, DARWIN G."'
While humans intuitively manipulate garments and other textiles items swiftly and accurately, it is a significant challenge for robots. A factor crucial to the human performance is the ability to imagine, a priori, the intended result of the manipula
Externí odkaz:
http://arxiv.org/abs/2410.05038
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows for fast end
Externí odkaz:
http://arxiv.org/abs/2307.04918
Publikováno v:
IEEE Robotics and Automation Letters (RA-L), 2023
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult when high
Externí odkaz:
http://arxiv.org/abs/2305.07748
Autor:
Lazzaroni, Maria, Chini, Giorgia, Draicchio, Francesco, Di Natali, Christian, Caldwell, Darwin G., Ortiz, Jesús
Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not been explo
Externí odkaz:
http://arxiv.org/abs/2305.06772
Autor:
Tavassoli, Mehrdad, Katyara, Sunny, Pozzi, Maria, Deshpande, Nikhil, Caldwell, Darwin G., Prattichizzo, Domenico
The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence, robots ne
Externí odkaz:
http://arxiv.org/abs/2210.08060
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the implementation of a
Externí odkaz:
http://arxiv.org/abs/2208.00810
Publikováno v:
In Robotics and Autonomous Systems September 2024 179
Autor:
Katyara, Sunny, Deshpande, Nikhil, Ficuciello, Fanny, Chen, Fei, Siciliano, Bruno, Caldwell, Darwin G.
Handling non-rigid objects using robot hands necessities a framework that does not only incorporate human-level dexterity and cognition but also the multi-sensory information and system dynamics for robust and fine interactions. In this research, our
Externí odkaz:
http://arxiv.org/abs/2109.07207
Autor:
Katyara, Sunny, Ficuciello, Fanny, Teng, Tao, Chen, Fei, Siciliano, Bruno, Caldwell, Darwin G.
Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic tasks foll
Externí odkaz:
http://arxiv.org/abs/2104.00342
Autor:
Katyara, Sunny, Deshpande, Nikhil, Ficuciello, Fanny, Teng, Tao, Siciliano, Bruno, Caldwell, Darwin G., Chen, Fei
Enabling robots to work in close proximity to humans necessitates a control framework that does not only incorporate multi-sensory information for autonomous and coordinated interactions but also has perceptive task planning to ensure an adaptable an
Externí odkaz:
http://arxiv.org/abs/2103.05676