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cs.RO2022
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…
cs.RO2022
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…
cs.RO2022
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…