48 citations · 52 across the 9 of their papers we have counts for
9 papers
A General Framework for Hierarchical Redundancy Resolution Under Arbitrary Constraints
Mario D. Fiore, Gaetano Meli, Anton Ziese +2
The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple…
Fusing Visuo-Tactile Perception into Kernelized Synergies for Robust Grasping and Fine Manipulation of Non-rigid Objects
Sunny Katyara, Nikhil Deshpande, Fanny Ficuciello +3
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 s…
Intuitive Tasks Planning Using Visuo-Tactile Perception for Human Robot Cooperation
Sunny Katyara, Fanny Ficuciello, Tao Teng +3
Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such inst…
Formulating Intuitive Stack-of-Tasks using Visuo-Tactile Perception for Collaborative Human-Robot Fine Manipulation
Sunny Katyara, Nikhil Deshpande, Fanny Ficuciello +4
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 intera…
Vision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation
Sunny Katyara, Fanny Ficuciello, Fei Chen +2
Humans in contrast to robots are excellent in performing fine manipulation tasks owing to their remarkable dexterity and sensorimotor organization. Enabling robots to acquire such…
Force and state-feedback control for robots with non-collocated environmental and actuator forces
Alejandro Donaire, Luigi Villani, Fanny Ficuciello +2
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the…
Leveraging Kernelized Synergies on Shared Subspace for Precision Grasp and Dexterous Manipulation
Sunny Katyara, Fanny Ficuciello, Darwin Caldwell +2
Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands, increases the controller complexity and thus…
Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots
Sunny Katyara, Fanny Ficuciello, Darwin G. Caldwell +2
Pruning is the art of cutting unwanted and unhealthy plant branches and is one of the difficult tasks in the field robotics. It becomes even more complex when the plant branches ar…
Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-based Human Guiding Problem
Marco Tognon, Rachid Alami, Bruno Siciliano
Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing…