8 papers
A Geometric Task-Space Port-Hamiltonian Formulation for Redundant Manipulators
Federico Califano, Camilla Rota, Riccardo Zanella +1
We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task , where is a point on the configura…
Control Barrier Functions Solved with Hierarchical Quadratic Programming for Safe Physical Human-Robot Interaction
Rui Luo, Jonas Mariager Jakobsen, Wesley Roozing +2
Physical human-robot interaction offers the potential to leverage human intelligence and robot physical capabilities to enable a range of exciting applications, e.g., collaborative…
Physical Human-Robot Interaction: A Critical Review of Safety Constraints
Riccardo Zanella, Federico Califano, Stefano Stramigioli
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We…
Model order reduction via Lie groups
Yannik P. Wotte, Patrick Buchfink, Silke Glas +2
Lie groups and their actions are ubiquitous in the description of physical systems, and we explore implications in the setting of model order reduction (MOR). We present a novel fr…
Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
Antonio Rapuano, Yaolei Shen, Federico Califano +2
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-ord…
Safety-Critical Control on Lie Groups Using Energy-Augmented Zeroing Control Barrier Functions
Alessandro Letti, Riccardo Zanella, Alessandro Macchelli +1
We study safety-critical control on fully actuated mechanical systems by means of Zeroing Control Barrier Functions (ZCBFs) defined on Lie Groups. Specifically, we introduce and th…