5 papers · 1 filter
A Null-space based Approach for a Safe and Effective Human-Robot Collaboration
Federico Benzi, Cristian Secchi
During physical human robot collaboration, it is important to be able to implement a time-varying interactive behaviour while ensuring robust stability. Admittance control and pass…
Whole-Body Control of a Mobile Manipulator for Passive Collaborative Transportation
Federico Benzi, Cristian Mancus, Cristian Secchi
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the…
A Dynamic Architecture for Task Assignment and Scheduling for Collaborative Robotic Cells
Andrea Pupa, Chiara Talignani Landi, Mattia Bertolani +1
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling…
An Optimization Approach for a Robust and Flexible Control in Collaborative Applications
Federico Benzi, Cristian Secchi
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but als…
A Set-Theoretic Approach to Multi-Task Execution and Prioritization
Gennaro Notomista, Siddharth Mayya, Mario Selvaggio +2
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need…