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A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of ...
Soft materials are being adopted in robotics in order to facilitate biomedical applications and in order to achieve simpler and more capable robots. One route to simplification is to design the robot's body using 'smart materials' that carry the burden of ...
Humans rely on the sense of touch in almost every aspect of daily life, whether to tie shoelaces, place fingertips on a computer keyboard or find keys inside a bag. With robots moving into human-centered environment, tactile exploration becomes more and mo ...
Object manipulation is a challenging task for robotics, as the physics involved in object interaction is complex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly w ...
We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...
Physical interaction between humans and robots arises a large set of challenging problems involving hardware, safety, control and cognitive aspects, among others. In this context, the cooperative (two or more people/robots) transportation of bulky loads in ...
Human-robot collaboration seeks to have humans and robots closely interacting in everyday situations. For some tasks, physical contact between the user and the robot may occur, originating significant challenges at safety, cognition, perception and control ...
A new challenge for surgical robotics is placed in the use of flexible manipulators, to perform procedures that are impossible for currently available rigid robots. Since the surgeon only controls the end-effector of the manipulator, new control strategies ...
The principle of the superposition of ultrasonic frequency vibrations to conventional machining techniques is known and practiced since the 1950s under the name of ultrasonic machining. Using ultrasonics, many good properties appear including reduced thrus ...
Object manipulation is a challenging task for robotics, as the physics involved in object interaction is com- plex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly ...
