3 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…
cs.RO2024
Interacting humans and robots can improve sensory prediction by adapting their viscoelasticity
Xiaoxiao Cheng, Jonathan Eden, Bastien Berret +2
To manipulate objects or dance together, humans and robots exchange energy and haptic information. While the exchange of energy in human-robot interaction has been extensively inve…