76 citations · 237 across the 17 of their papers we have counts for
4 papers · 1 filter
Leveraging distributed contact force measurements for slip detection: a physics-based approach enabled by a data-driven tactile sensor
Pietro Griffa, Carmelo Sferrazza, Raffaello D'Andrea
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. Howev…
Offset-free Model Predictive Control: A Ball Catching Application with a Spherical Soft Robotic Arm
Yaohui Huang, Matthias Hofer, Raffaello D'Andrea
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined wit…
Distributed Estimation, Control and Coordination of Quadcopter Swarm Robots
Zheng Jia, Michael Hamer, Raffaello D'Andrea
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters a…
Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation
Thomas Bi, Carmelo Sferrazza, Raffaello D'Andrea
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the…