4 papers
Approximating robot reachable space using convex polytopes
Antun Skuric, Vincent Padois, David Daney
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a g…
On-line feasible wrench polytope evaluation based on human musculoskeletal models: an iterative convex hull method
Antun Skuric, Vincent Padois, Nasser Rezzoug +1
Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance leve…
Efficient Set-Based Approaches for the Reliable Computation of Robot Capabilities
Joshua Pickard, Vincent Padois, Milan Hladík +1
To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily accoun…
On-line force capability evaluation based on efficient polytope vertex search
Antun Skuric, Vincent Padois, David Daney
Ellipsoid-based manipulability measures are often used to characterize the force/velocity task-space capabilities of robots. While computationally simple, this approach largely app…