3 papers
cs.RO2023
Orientation Control with Variable Stiffness Dynamical Systems
Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka +1
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional t…
cs.RO2023
A Shared Control Approach Based on First-Order Dynamical Systems and Closed-Loop Variable Stiffness Control
Haotian Xue, Youssef Michel, Dongheui Lee
In this paper, we present a novel learning-based shared control framework. This framework deploys first-order Dynamical Systems (DS) as motion generators providing the desired refe…
cs.RO2023
A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems
Youssef Michel, Matteo Saveriano, Dongheui Lee
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control appr…