2 papers
cs.RO2026
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
Faisal Lawan, Xiaoran Han, Joaquin Carrasco +2
Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitat…
cs.RO2025
Embodied Tactile Perception of Soft Objects Properties
Anirvan Dutta, Alexis WM Devillard, Zhihuan Zhang +2
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tac…