19 citations · 59 across the 7 of their papers we have counts for
7 papers
Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
Carlo Tiseo, Quentin Rouxel, Martin Asenov +4
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the pa…
Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance Control
Keyhan Kouhkiloui Babarahmati, Mohammadreza Kasaei, Carlo Tiseo +2
In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasi…
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati +4
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their propr…
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati +3
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, whi…
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
Keyhan Kouhkiloui Babarahmati, Carlo Tiseo, Quentin Rouxel +2
Robotic teleoperation will allow us to perform complex manipulation tasks in dangerous or remote environments, such as needed for planetary exploration or nuclear decommissioning.…
Fractal Impedance for Passive Controllers: A Framework for Interaction Robotics
Keyhan Kouhkiloui Babarahmati, Carlo Tiseo, Joshua Smith +3
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant impro…
A Projected Inverse Dynamics Approach for Dual-arm Cartesian Impedance Control
Hsiu-Chin Lin, Joshua Smith, Keyhan Kouhkiloui Babarahmati +2
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected in…