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05/24/2023
Neural Lyapunov and Optimal Control
Optimal control (OC) is an effective approach to controlling complex dyn...
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06/20/2022
Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
Medical robotics can help improve and extend the reach of healthcare ser...
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06/01/2022
Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control
This work developed collaborative bimanual manipulation for reliable and...
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05/10/2022
Efficient Learning of Inverse Dynamics Models for Adaptive Computed Torque Control
Modelling robot dynamics accurately is essential for control, motion opt...
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03/14/2022
Agile Maneuvers in Legged Robots: a Predictive Control Approach
Achieving agile maneuvers through multiple contact phases has been a lon...
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11/03/2021
What Robot do I Need? Fast Co-Adaptation of Morphology and Control using Graph Neural Networks
The co-adaptation of robot morphology and behaviour becomes increasingly...
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09/23/2021
Optimal Control via Combined Inference and Numerical Optimization
Derivative based optimization methods are efficient at solving optimal c...
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09/09/2021
A Unified Model with Inertia Shaping for Highly Dynamic Jumps of Legged Robots
To achieve highly dynamic jumps of legged robots, it is essential to con...
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09/09/2021
Fine Manipulation and Dynamic Interaction in Haptic Teleoperation
Teleoperation of robots enables remote intervention in distant and dange...
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09/09/2021
Robust Impedance Control for Dexterous Interaction Using Fractal Impedance Controller with IK-Optimisation
Robust dynamic interactions are required to move robots in daily environ...
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08/10/2021
Robust and Dexterous Dual-arm Tele-Cooperation using Fractal Impedance Control
Deploying robots from isolated operations to shared environments has bee...
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07/06/2021
Geometrical Postural Optimisation of 7-DoF Limb-Like Manipulators
Robots are moving towards applications in less structured environments, ...
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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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03/08/2021
Exploiting Spherical Projections To Generate Human-Like Wrist Pointing Movements
The mechanism behind the generation of human movements is of great inter...
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12/01/2020
Theoretical Evidence Supporting Harmonic Reaching Trajectories
Minimum Jerk trajectories have been long thought to be the reference tra...
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11/17/2020
Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing
Accurately modeling robot dynamics is crucial to safe and efficient moti...
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11/01/2020
A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Path planning and collision avoidance are challenging in complex and hig...
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10/23/2020
Robust Planning and Control for Dynamic Quadrupedal Locomotion with Adaptive Feet
In this paper, we aim to improve the robustness of dynamic quadrupedal l...
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08/28/2020
Online Dynamic Trajectory Optimization and Control for a Quadruped Robot
Legged robot locomotion requires the planning of stable reference trajec...
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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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03/04/2020
Contact Surface Estimation via Haptic Perception
Legged systems need to optimize contact force in order to maintain conta...
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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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03/03/2020
Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation
Robot teleoperation has been proposed as a solution to perform complex t...
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03/02/2020
Adversarial Generation of Informative Trajectories for Dynamics System Identification
Dynamic System Identification approaches usually heavily rely on the evo...
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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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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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11/12/2019
Fractal Impedance for Passive Controllers
During the last decade, there has been increasing interest in new contro...
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10/09/2019
Online Simultaneous Semi-Parametric Dynamics Model Learning
Accurate models of robots' dynamics are critical for control, stability,...
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06/24/2019
Learning Generalisable Coupling Terms for Obstacle Avoidance via Low-dimensional Geometric Descriptors
Unforeseen events are frequent in the real-world environments where robo...
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05/25/2019
Learning and Composing Primitive Skills for Dual-arm Manipulation
In an attempt to confer robots with complex manipulation capabilities, d...
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04/02/2019
Learning and Generalisation of Primitives Skills Towards Robust Dual-arm Manipulation
Robots are becoming a vital ingredient in society. Some of their daily t...
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02/19/2019
Analytic Model for Quadruped Locomotion Task-Space Planning
Despite the extensive presence of the legged locomotion in animals, it i...
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10/11/2017