22 citations · 156 across the 23 of their papers we have counts for
3 papers · 1 filter
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…