22 citations · 53 across the 7 of their papers we have counts for
8 papers
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati +4
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their propr…
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
Guiyang Xin, Carlo Tiseo, Wouter Wolfslag +5
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control…
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
Carlo Tiseo, Wolfgang Merkt, Keyhan Kouhkiloui Babarahmati +3
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, whi…
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
Henrique Ferrolho, Wolfgang Merkt, Vladimir Ivan +2
This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward…
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots
Wouter Wolfslag, Christopher McGreavy, Guiyang Xin +3
Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we st…
Safe and Compliant Control of Redundant Robots Using Superimposition of Passive Task-Space Controllers
Carlo Tiseo, Wolfgang Merkt, Wouter Wolfslag +2
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic m…
Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
Guiyang Xin, Joshua Smith, David Rytz +3
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typica…
RRT-CoLearn: towards kinodynamic planning without numerical trajectory optimization
Wouter Wolfslag, Mukunda Bharatheesha, Thomas Moerland +1
Sampling-based kinodynamic planners, such as Rapidly-exploring Random Trees (RRTs), pose two fundamental challenges: computing a reliable (pseudo-)metric for the distance between t…