3 papers
cs.RO2026
A Virtual Mechanical Interaction Layer Enables Resilient Human-to-Robot Object Handovers
Omar Faris, SÅawomir Tadeja, Fulvio Forni
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensu…
cs.RO2026
Distributed Virtual Model Control for Scalable Human-Robot Collaboration in Shared Workspace
Yi Zhang, Omar Faris, Chapa Sirithunge +3
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and…
eess.SY2025
Design of MIMO Lur'e oscillators via dominant system theory with application in multi-agent rhythm synchronization
Yu Kawano, Fulvio Forni
This paper presents a new design framework for dynamic output-feedback controllers for Lur'e oscillation in a multiple-input multiple-output setting. We first revisit and extend do…