Enabling impedance-based physical human–multi–robot collaboration: Experiments with four torque-controlled manipulators

Autor: Pouya Mohammadi, Michael Mistry, Niels Dehio, Jochen J. Steil, Joshua Smith, Dennis Leroy Wigand

Publikováno v: The International Journal of Robotics Research. 41:68-84

Robotics research into multi-robot systems so far has concentrated on implementing intelligent swarm behavior and contact-less human interaction. Studies of haptic or physical human-robot interaction, by contrast, have primarily focused on the assist

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::114a7c99114f468fd0a01599cbf19d50
https://doi.org/10.1177/02783649211053650

Robot-Safe Impacts with Soft Contacts Based on Learned Deformations

Autor: Niels Dehio, Abderrahmane Kheddar

Publikováno v: IEEE International Conference on Robotics and Automation (ICRA 2021)
IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China
ICRA
ICRA, May 2021, Xi'an, China
2021 IEEE International Conference on Robotics and Automation (ICRA)
ICRA 2021-38th IEEE International Conference on Robotics and Automation
ICRA 2021-38th IEEE International Conference on Robotics and Automation, May 2021, Xi'an, China. pp.1357-1363, ⟨10.1109/ICRA48506.2021.9561678⟩

International audience; Safely generating impacts with robots is challenging due to subsequent discontinuous velocity and high impact forces. We aim at increasing the impact velocity - the robot's relative speed prior to contact - such that impact-ta

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::32c799fb3e0dcbe928c8a39aebfedd2b
https://hal.archives-ouvertes.fr/hal-02973947

Continuously Shaping Projections and Operational Space Tasks

Autor: Jochen J. Steil, Daniel Kubus, Niels Dehio

Publikováno v: IROS

Projection operators are widely employed in multi-objective robot control. It is an open research question how to achieve continuous transitions between different idempotent projectors which is required for dynamic task priority rearrangement. We for

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b0f130b7d7f3dfd479096ed099e601f1
https://pub.uni-bielefeld.de/record/2933605

Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Autor: Jochen J. Steil, Hsiu-Chin Lin, Joshua Smith, Guiyang Xin, Niels Dehio, Michael Mistry, Dennis Leroy Wigand

Publikováno v: 2018 IEEE International Conference on Robotics and Automation (ICRA)
Dehio, N, Smith, J, Wigand, D L, Xin, G, Lin, H-C, Steil, J J & Mistry, M 2018, Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping . in 2018 IEEE International Conference on Robotics and Automation (ICRA) : Brisbane, Australia . Institute of Electrical and Electronics Engineers (IEEE), pp. 294-301, 2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia, 21/05/18 . https://doi.org/10.1109/ICRA.2018.8462872
ICRA

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg rob

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::591a724ca31b08a9f6124dce45440fd9

Domain-Specific Language Modularization Scheme Applied to a Multi-Arm Robotics Use-Case

Autor: Dennis Leroy Wigand, Arne Nordmann, Niels Dehio, Michael Mistry, Sebastian Wrede

Publikováno v: BASE-Bielefeld Academic Search Engine
PUB-Publications at Bielefeld University

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::3532f32d3073e4afff7743fe0069d17f
https://pub.uni-bielefeld.de/publication/2914553