5 papers
Energy Tank-based Control Framework for Satisfying the ISO/TS 15066 Constraint
Federico Benzi, Federica Ferraguti, Cristian Secchi
The technical specification ISO/TS 15066 provides the foundational elements for assessing the safety of collaborative human-robot cells, which are the cornerstone of the modern ind…
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…
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…