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cs.RO2023
Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization
Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti +3
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes…
cs.RO2023
A Control Approach for Human-Robot Ergonomic Payload Lifting
Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid +5
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collab…