4 citations · 4 across the 6 of their papers we have counts for
6 papers
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…
Symmetric Lyapunov Subcenter Manifolds for Periodic Regulation of Mechanical Systems
Yannik P. Wotte, Arne Sachtler, Alin Albu-Schäffer +2
Multi-body mechanical systems have rich internal dynamics, whose solutions can be exploited as energy-efficient control targets. Yet, solutions non-trivially depend on system param…
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…
The effect of control barrier functions on energy transfers in controlled physical systems
Federico Califano, Riccardo Zanella, Alessandro Macchelli +1
Using a port-Hamiltonian formalism, we show the qualitative and quantitative effect of safety-critical control implemented with control barrier functions (CBFs) on the power balanc…
Optimal Potential Shaping on SE(3) via Neural ODEs on Lie Groups
Yannik P. Wotte, Federico Califano, Stefano Stramigioli
This work presents a novel approach for the optimization of dynamic systems on finite-dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary differential…