Zobrazeno 1 - 10
of 31
pro vyhledávání: '"Fabrizio Flacco"'
Publikováno v:
IEEE Transactions on Robotics. 31:637-654
We present an efficient method for addressing online the inversion of differential task kinematics for redundant manipulators, in the presence of hard limits on joint space motion that can never be violated. The proposed Saturation in the Null Space
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1e950cc5c8484c280d5b897cf8eb02fa
https://doi.org/10.1109/tro.2015.2418582
https://doi.org/10.1109/tro.2015.2418582
Autor:
Fabrizio Flacco, Abderrahmane Kheddar
Publikováno v:
26th IEEE International Symposium on Robot and Human Interactive Communication
RO-MAN: Robot and Human Interactive Communication
RO-MAN: Robot and Human Interactive Communication, Aug 2017, Lisbon, Portugal
RO-MAN
RO-MAN: Robot and Human Interactive Communication
RO-MAN: Robot and Human Interactive Communication, Aug 2017, Lisbon, Portugal
RO-MAN
Conference theme: Human-Robot Collaboration and Human Assistance for an Improved Quality of Life; International audience; We present a methodology for estimating joints torque due to external forces applied to a robot with large joints backlash and f
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::552986823f33baa2fa0cd3272721ce11
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01363954
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01363954
Publikováno v:
Journal of Intelligent & Robotic Systems. 80:7-22
We present a novel approach to estimate the distance between a generic point in the Cartesian space and objects detected with a depth sensor. This information is crucial in many robotic applications, e.g., for collision avoidance, contact point ident
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::125305d0de47868cf75cd2921d43204c
https://doi.org/10.1007/s10846-014-0146-2
https://doi.org/10.1007/s10846-014-0146-2
Autor:
Fabrizio Flacco
Publikováno v:
Humanoids
In this paper a novel approach for computing the redundancy resolution is presented. In classical redundancy resolution methods, the correct priority order between multiple tasks is guaranteed by projecting a task on the null space of higher priority
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c7b4c857df9657d24a28142653df7acd
https://doi.org/10.1109/humanoids.2016.7803246
https://doi.org/10.1109/humanoids.2016.7803246
Publikováno v:
Humanoids
IEEE-RAS 16th International Conference on Humanoid Robots
Humanoids, Nov 2016, Cancun, Mexico. pp.409-415, ⟨10.1109/HUMANOIDS.2016.7803308⟩
IEEE-RAS 16th International Conference on Humanoid Robots
Humanoids, Nov 2016, Cancun, Mexico. pp.409-415, ⟨10.1109/HUMANOIDS.2016.7803308⟩
International audience; The residual method for detecting contacts is a promising approach to allow physical interaction tasks with humanoid robots. Nevertheless, the classical formulation, as developed for fixed-base robots, cannot be directly appli
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e17d111ff42567270e0332fc99347593
https://doi.org/10.1109/humanoids.2016.7803308
https://doi.org/10.1109/humanoids.2016.7803308
Publikováno v:
The International Journal of Robotics Research
Variable stiffness actuators (VSAs) are currently explored as a new actuation approach to increase safety in physical human–robot interaction (pHRI) and improve dynamic performance of robots. For control purposes, accurate knowledge is needed of th
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::00b4689579c353dd2c6685f81f3e9cbc
https://doi.org/10.1177/0278364912461813
https://doi.org/10.1177/0278364912461813
Publikováno v:
ICRA
We consider the problem of extracting a complete set of numerical parameters that characterize the robot dynamics, starting from the identified values of dynamic coefficients that linearly parametrize the robot dynamic equations. This information is
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::074fcbbc6367224b210abc8558a24237
http://hdl.handle.net/11573/868988
http://hdl.handle.net/11573/868988
Autor:
Fabrizio Flacco, Alessandro De Luca
Publikováno v:
IROS
Our recently developed Reverse Priority (RP) redundancy resolution method is extended here to the presence of unilateral constraints. The RP method computes the solution to a stack of prioritized tasks starting from the lowest priority one, and addin
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e9fb84e79d4e9c499d845c2a6feeeb15
http://hdl.handle.net/11573/868981
http://hdl.handle.net/11573/868981
Autor:
Fabrizio Flacco, Alessandro De Luca
With reference to robots that are redundant for a given task, we present a novel and intuitive approach allowing to define a discrete-time joint velocity command that shares the same characteristics of a second-order inverse differential scheme, with
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2e63a06d47cc921de7fbff0b6e9ad006
http://hdl.handle.net/11573/780453
http://hdl.handle.net/11573/780453
Autor:
Fabrizio Flacco, Alessandro De Luca
Publikováno v:
IROS
A novel method to handle multiple robotic tasks with priorities is presented. The occurrence of singularities, both of the kinematic and algorithmic type, may affect the correct hierarchy in task execution. Existing methods deal with singularities ei
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::83d377d749971fd9fb3784c006fa850d
https://doi.org/10.1109/iros.2014.6942891
https://doi.org/10.1109/iros.2014.6942891