3 papers
eess.SY2026
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…
math.NA2025
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…
eess.SY2024
Lossless optimal transient control for rigid bodies in 3D space
Riccardo Zanella, Federico Califano, Antonio Franchi +1
In this letter, we propose a control scheme for rigid bodies designed to optimise transient behaviors. The search space for the optimal control input is parameterized to yield a pa…