22 citations · 156 across the 23 of their papers we have counts for
25 papers
Parametric Design of a Cable-Driven Coaxial Spherical Parallel Mechanism for Ultrasound Scans
Maryam Seraj, Mohammad Hossein Kamrava, Carlo Tiseo
Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving hig…
Feasibility Retargeting for Multi-contact Teleoperation and Physical Interaction
Quentin Rouxel, Ruoshi Wen, Zhibin Li +3
This short paper outlines two recent works on multi-contact teleoperation and the development of the SEIKO (Sequential Equilibrium Inverse Kinematic Optimization) framework. SEIKO…
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…
Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control
Ruoshi Wen, Quentin Rouxel, Michael Mistry +2
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bim…
Fine Manipulation and Dynamic Interaction in Haptic Teleoperation
Carlo Tiseo, Quentin Rouxel, Zhibin Li +1
The teleoperation of robots enables remote intervention in distant and dangerous tasks without putting the operator in harm's way. However, remote operation faces fundamental chall…
Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation
Carlo Tiseo, Quentin Rouxel, Zhibin Li +1
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human moveme…
Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators
Carlo Tiseo, Sydney Rebecca Charitos, Michael Mistry
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpred…
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…
Exploiting Spherical Projections To Generate Human-Like Wrist Pointing Movements
Carlo Tiseo, Sydney Rebecca Charitos, Michael Mistry
The mechanism behind the generation of human movements is of great interest in many fields (e.g. robotics and neuroscience) to improve therapies and technologies. Optimal Feedback…
Theoretical Evidence Supporting Harmonic Reaching Trajectories
Carlo Tiseo, Sydney Rebecca Charitos, Michael Mistry
Minimum Jerk trajectories have been long thought to be the reference trajectories for human movements due to their impressive similarity with human movements. Nevertheless, minimum…
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt +3
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and…
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
Oguzhan Cebe, Carlo Tiseo, Guiyang Xin +3
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capabl…
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
Guiyang Xin, Carlo Tiseo, Wouter Wolfslag +5
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control…
Robots in the Danger Zone: Exploring Public Perception through Engagement
David A. Robb, Muneeb I. Ahmad, Carlo Tiseo +14
Public perceptions of Robotics and Artificial Intelligence (RAI) are important in the acceptance, uptake, government regulation and research funding of this technology. Recent rese…
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.…
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots
Wouter Wolfslag, Christopher McGreavy, Guiyang Xin +3
Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we st…
Safe and Compliant Control of Redundant Robots Using Superimposition of Passive Task-Space Controllers
Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag +2
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic m…
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…
Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories
Henrique Ferrolho, Wolfgang Merkt, Carlo Tiseo +1
We propose a representation for the set of forces a robot can counteract using full system dynamics: the residual force polytope. Given the nominal torques required by a dynamic mo…
Analytic Model for Quadruped Locomotion Task-Space Planning
Carlo Tiseo, Sethu Vijayakumar, Michael Mistry
Despite the extensive presence of the legged locomotion in animals, it is extremely challenging to be reproduced with robots. Legged locomotion is an dynamic task which benefits fr…
Motor Control Insights on Walking Planner and its Stability
Carlo Tiseo, Kalyana C Veluvolu, Wei Tech Ang
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomo…
Deployment of the Saddle Space Transformation in Tracking the Base of Support
Carlo Tiseo, Ming Jeat Foo, Kalyana C Veluvolu +1
Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance as…