75 citations · 175 across the 13 of their papers we have counts for
12 papers · 1 filter
SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks
Heng Zhang, Gokhan Solak, Gustavo J. G. Lahr +1
Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially i…
A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots
Hamidreza Raei, Juan M. Gandarias, Elena De Momi +2
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/de…
Pushing in the Dark: A Reactive Pushing Strategy for Mobile Robots Using Tactile Feedback
Idil Ozdamar, Doganay Sirintuna, Robin Arbaud +1
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular,…
A Combined Learning and Optimization Framework to Transfer Human Whole-body Loco-manipulation Skills to Mobile Manipulators
Jianzhuang Zhao, Francesco Tassi, Yanlong Huang +2
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies c…
Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning
Pietro Balatti, Idil Ozdamar, Doganay Sirintuna +4
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key…
A Human Motion Compensation Framework for a Supernumerary Robotic Arm
Xin Zhang, Pietro Balatti, Mattia Leonori +1
Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a connected kinodynamic chain,…