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06/20/2021
HapFIC: An Adaptive Force/Position Controller for Safe Environment Interaction in Articulated Systems
Haptic interaction is essential for the dynamic dexterity of animals, wh...
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04/06/2020
Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots
The deployment of robots in industrial and civil scenarios is a viable s...
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03/03/2020
Bio-mimetic Adaptive Force/Position Control Using Fractal Impedance
The ability of animals to interact with complex dynamics is unmatched in...
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03/01/2020
Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections
This paper focuses on robustness to disturbance forces and uncertain pay...
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02/27/2020
Safe and Compliant Control of Redundant Robots Using a Stack of Passive Task-Space Controllers
Safe and compliant control of dynamic systems in interaction with the en...
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02/24/2020
Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots
Legged robots have great potential to perform loco-manipulation tasks, y...
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12/16/2019
Bounded haptic teleoperation of a quadruped robot's foot posture for sensing and manipulation
This paper presents a control framework to teleoperate a quadruped robot...
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10/27/2017