22 citations · 143 across the 29 of their papers we have counts for
7 papers · 1 filter
Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
Guiyang Xin, Joshua Smith, David Rytz +3
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typica…
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…
Online Simultaneous Semi-Parametric Dynamics Model Learning
Joshua Smith, Michael Mistry
Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based…
Learning Generalisable Coupling Terms for Obstacle Avoidance via Low-dimensional Geometric Descriptors
Èric Pairet, Paola Ardón, Michael Mistry +1
Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the…
Learning and Composing Primitive Skills for Dual-arm Manipulation
Èric Pairet, Paola Ardón, Michael Mistry +1
In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most appr…
Learning and Generalisation of Primitives Skills Towards Robust Dual-arm Manipulation
Èric Pairet, Paola Ardón, Frank Broz +2
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world envi…