30 citations · 120 across the 22 of their papers we have counts for
22 papers
Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction
Rui Luo, Jonas Mariager Jakobsen, Wesley Roozing +2
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative…
Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
Antonio Rapuano, Yaolei Shen, Federico Califano +2
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-ord…
Physical Human-Robot Interaction: A Critical Review of Safety Constraints
Riccardo Zanella, Federico Califano, Stefano Stramigioli
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We…
Safety-Critical Control on Lie Groups Using Energy-Augmented Zeroing Control Barrier Functions
Alessandro Letti, Riccardo Zanella, Alessandro Macchelli +1
We study safety-critical control on fully actuated mechanical systems by means of Zeroing Control Barrier Functions (ZCBFs) defined on Lie Groups. Specifically, we introduce and th…
A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators
Federico Califano, Camilla Rota, Riccardo Zanella +1
We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task , where is a point on the configurat…
Model order reduction via Lie groups
Yannik P. Wotte, Patrick Buchfink, Silke Glas +2
Lie groups and their actions are ubiquitous in the description of physical systems, and we explore implications in the setting of model order reduction (MOR). We present a novel fr…
Lossless optimal transient control for rigid bodies in 3D space
Riccardo Zanella, Federico Califano, Antonio Franchi +1
In this letter, we propose a control scheme for rigid bodies designed to optimise transient behaviors. The search space for the optimal control input is parameterized to yield a pa…
The effect of control barrier functions on energy transfers in controlled physical systems
Federico Califano, Riccardo Zanella, Alessandro Macchelli +1
Using a port-Hamiltonian formalism, we show the qualitative and quantitative effect of safety-critical control implemented with control barrier functions (CBFs) on the power balanc…
Optimal Potential Shaping on SE(3) via Neural ODEs on Lie Groups
Yannik P. Wotte, Federico Califano, Stefano Stramigioli
This work presents a novel approach for the optimization of dynamic systems on finite-dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary differential…
Trajectory Generation, Control, and Safety with Denoising Diffusion Probabilistic Models
Nicolò Botteghi, Federico Califano, Mannes Poel +1
We present a framework for safety-critical optimal control of physical systems based on denoising diffusion probabilistic models (DDPMs). The technology of control barrier function…
Intrinsic nonlinear elasticity: An exterior calculus formulation
Ramy Rashad, Andrea Brugnoli, Federico Califano +2
In this paper we formulate the theory of nonlinear elasticity in a geometrically intrinsic manner using exterior calculus and bundle-valued differential forms. We represent kinemat…
Passivity-Preserving Safety-Critical Control using Control Barrier Functions
Federico Califano
In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under w…
Learning passive policies with virtual energy tanks in robotics
Riccardo Zanella, Gianluca Palli, Stefano Stramigioli +1
Within a robotic context, we merge the techniques of passivity-based control (PBC) and reinforcement learning (RL) with the goal of eliminating some of their reciprocal weaknesses,…
Discovering Efficient Periodic Behaviours in Mechanical Systems via Neural Approximators
Yannik Wotte, Sven Dummer, Nicolò Botteghi +3
It is well known that conservative mechanical systems exhibit local oscillatory behaviours due to their elastic and gravitational potentials, which completely characterise these pe…
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 differential geometric description of thermodynamics in continuum mechanics with application to Fourier-Navier-Stokes fluids
Federico Califano, Ramy Rashad, Stefano Stramigioli
A description of thermodynamics for continuum mechanical systems is presented in the coordinate-free language of exterior calculus. First, a careful description of the mathematical…
Energetic decomposition of Distributed Systems with Moving Material Domains: the port-Hamiltonian model of Fluid-Structure Interaction
Federico Califano, Ramy Rashad, Frederic P. Schuller +1
We introduce the geometric structure underlying the port-Hamiltonian models for distributed parameter systems exhibiting moving material domains.
Geometric and energy-aware decomposition of the Navier-Stokes equations: A port-Hamiltonian approach
Federico Califano, Ramy Rashad, Frederic P. Schuller +1
A port-Hamiltonian model for compressible Newtonian fluid dynamics is presented in entirely coordinate-independent geometric fashion. This is achieved by use of tensor-valued diffe…
Optimal Energy Shaping via Neural Approximators
Stefano Massaroli, Michael Poli, Federico Califano +3
We introduce optimal energy shaping as an enhancement of classical passivity-based control methods. A promising feature of passivity theory, alongside stability, has traditionally…
Port-Hamiltonian Modeling of Ideal Fluid Flow: Part II. Compressible and Incompressible Flow
Ramy Rashad, Federico Califano, Frederic P. Schuller +1
Part I of this paper presented a systematic derivation of the Stokes Dirac structure underlying the port-Hamiltonian model of ideal fluid flow on Riemannian manifolds. Starting fro…
Port-Hamiltonian Modeling of Ideal Fluid Flow: Part I. Foundations and Kinetic Energy
Ramy Rashad, Federico Califano, Frederic P. Schuller +1
In this two-parts paper, we present a systematic procedure to extend the known Hamiltonian model of ideal inviscid fluid flow on Riemannian manifolds in terms of Lie-Poisson struct…
Port-Hamiltonian Approach to Neural Network Training
Stefano Massaroli, Michael Poli, Federico Califano +4
Neural networks are discrete entities: subdivided into discrete layers and parametrized by weights which are iteratively optimized via difference equations. Recent work proposes ne…