2 papers
cs.RO2024
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions
Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka +1
In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained significant attention due to their ability to generate real-time motions and reach predefined…
cs.RO2023
Orientation Control with Variable Stiffness Dynamical Systems
Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka +1
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional t…