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08/02/2023
Planar Friction Modelling with LuGre Dynamics and Limit Surfaces
Contact surfaces in planar motion exhibit a coupling between tangential ...
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06/21/2023
Robotic Navigation with Convergence Guarantees in Complex Dynamic Environments
This article addresses the obstacle avoidance problem for setpoint stabi...
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03/28/2023
Obstacle Avoidance in Dynamic Environments via Tunnel-following MPC with Adaptive Guiding Vector Fields
This paper proposes a motion control scheme for robots operating in a dy...
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08/03/2022
Learning Shape Control of Elastoplastic Deformable Linear Objects
Deformable object manipulation tasks have long been regarded as challeng...
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05/19/2022
Creating Star Worlds – Modelling Concave Obstacles for Reactive Motion Planning
Motion planning methods like navigation functions and harmonic potential...
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12/03/2021
A Survey of Robot Manipulation in Contact
In this survey we present the current status on robots performing manipu...
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05/20/2021
Monte Carlo Filtering Objectives: A New Family of Variational Objectives to Learn Generative Model and Neural Adaptive Proposal for Time Series
Learning generative models and inferring latent trajectories have shown ...
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04/07/2021
Human-robot collaborative object transfer using human motion prediction based on Cartesian pose Dynamic Movement Primitives
In this work, the problem of human-robot collaborative object transfer t...
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02/23/2021
Interpretability in Contact-Rich Manipulation via Kinodynamic Images
Deep Neural Networks (NNs) have been widely utilized in contact-rich man...
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03/20/2020
Modelling and Learning Dynamics for Robotic Food-Cutting
Data-driven approaches for modelling contact-rich tasks address many of ...
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05/03/2019
A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution
Dual-arm manipulation tasks can be prescribed to a robotic system in ter...
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05/03/2019
Asymmetric Dual-Arm Task Execution using an Extended Relative Jacobian
Dual-armed coordination is a classical problem in robotics, which gained...
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03/09/2019