105 citations · 224 across the 13 of their papers we have counts for
4 papers · 1 filter
On the use of energy tanks for robotic systems
Federico Califano, Ramy Rashad, Cristian Secchi +1
In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article h…
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…
Bidirectional Communication Control for Human-Robot Collaboration
Davide Ferrari, Federico Benzi, Cristian Secchi
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the exec…