24 citations · 24 across the 3 of their papers we have counts for
4 papers · 1 filter
Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance
Francesco Cufino, Carmela Mariniello, Mario Selvaggio +2
Manipulation tasks such as unscrewing a cap or sliding a part in contact with a surface require imposing force along a high-friction direction: the robot must overcome a resistance…
Robust Nonprehensile Object Transport with Quadruped Robots
Ainoor Teimoorzadeh, Riccardo Pretto, Mario Selvaggio +2
In this paper, we present a robust nonprehensile object transportation framework for quadruped robots. An uncertainty-aware trajectory optimization method generates object motions…
Understanding User Preferences of a Slope-Aware Variable-Admittance Filter for a Robot Guide Dog
Federico Esposito, Mario Selvaggio, Aaron Link +1
This letter investigates how the parameters of a slope-aware variable-admittance filter influence user preferences in force-based interaction with a robotic guide dog for visually…
Compliant Non-Prehensile Pushing Manipulation
Francesco Cufino, Mario Selvaggio, Fabio Amadio +1
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated e…