4 papers
Reactive Exploration of Unknown Environments for Redundant Robots using Virtual Model Control
Alessio Canzolino, Omar Faris, Alessandro De Blasi +1
The exploration of confined, occluded, and partially known spaces poses significant challenges in robotic manipulation. The overall pose of the robotic arm must be carefully contro…
Distributed Virtual Model Control for Scalable Human-Robot Collaboration in Shared Workspace
Yi Zhang, Omar Faris, Chapa Sirithunge +3
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and…
A Virtual Mechanical Interaction Layer Enables Resilient Human-to-Robot Object Handovers
Omar Faris, Sławomir Tadeja, Fulvio Forni
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensu…
Design of MIMO Lur'e oscillators via dominant system theory with application in multi-agent rhythm synchronization
Yu Kawano, Fulvio Forni
This paper presents a new design framework for dynamic output-feedback controllers for Lur'e oscillation in a multiple-input multiple-output setting. We first revisit and extend do…