Publications associées à Cobotique

Bimanual dynamic grabbing and tossing of objects onto a moving target

Bimanual grabbing and tossing of packages onto trays or conveyor belts remains a human activity in the industry. For robots, such a dynamic task requires coordination between two arms and fast adaptation abilities when the tossing target is moving and subj ...

Elsevier2023

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Barbara Bruno, Romain Maure

Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

IEEE2023

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Josephine Anna Eleanor Hughes, Francesco Stella

Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system' ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Utku Norman

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

EPFL2023

Ultra-tunable bistable structures for universal robotic applications

Jamie Paik, Lei Wang, Ke Liu, Hongying Zhang, Yongkang Jiang, Xin Tong

Bistable structures in nature are unparalleled for their fast response and force amplification even with the most minute physical stimula-tion. However, current works on bistable structures mainly focus on their stable states, while promising intermediate ...

CELL PRESS2023

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Aude Billard, Harshit Khurana

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

2023

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

IEEE2023

Haptics based multi-level collaborative steering control for automated driving

Hannes Bleuler, Jürg Alexander Schiffmann, Tomohiro Nakade, Robert Fuchs

Increasing the capability of automated driving vehicles is motivated by environmental, productivity, and traffic safety benefits. But over-reliance on the automation system is known to cause accidents. The role of the driver cannot be underestimated as it ...

2023

A geometric optimal control approach for imitation and generalization of manipulation skills

Sylvain Calinon, Amirreza Razmjoo Fard, Jie Zhao

Daily manipulation tasks are characterized by regular features associated with the task structure, which can be described by multiple geometric primitives related to actions and object shapes. Only using Cartesian coordinate systems cannot fully represent ...

Elsevier2023

Automatic Acquisition of a Repertoire of Diverse Grasping Trajectories through Behavior Shaping and Novelty Search

Aurélien Arthur Enzo Morel

Grasping a particular object may require a dedicated grasping movement that may also be specific to the robot end-effector. No generic and autonomous method does exist to generate these movements without making hypotheses on the robot or on the object. Lea ...

IEEE2022

Audio-Visual Object Classification For Human-Robot Collaboration

Andrea Cavallaro

Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to estimate the physica ...

IEEE2022

Optimization of robot configurations for motion planning in industrial riveting

Sylvain Calinon, Hakan Girgin, Teguh Santoso Lembono

Collaborative robots (cobots) have been increasingly used in the industry in recent years. The cobots are often 7-axis kinematically redundant manipulators. Exploiting these redundancies in industrial tasks is still a challenge as the change in the robot j ...

IEEE2021

Control of Contact Tasks in Autonomous and Human-Robot Collaborative Scenarios: A Dynamical System Approach

Walid Amanhoud

Robotic systems are more and more present in our daily life. Robots became indeed more economical, easy to program, safe and collaborative in their interaction with humans, versatile in performing different tasks and adaptive towards changes in the environ ...

EPFL2021

Learning to Hit: A statistical Dynamical System based approach

Aude Billard, Michael Bosongo Bombile, Harshit Khurana

This paper proposes a manipulation scheme based on learning the motion of objects after being hit by a robotic end-effector. This allows for the object to be positioned at a desired location outside the physical workspace of the robot. An estimate of the o ...

IEEE2021

Bio-inspired adaptive impedance based controller for human-robot interaction and method

Mohamed Bouri, Amalric Louis Ortlieb, Benoît Walter Denkinger, Peter Lichard, Tommaso Tracchia

The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) ...

2020

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Aude Billard, Mahdi Khoramshahi, Seyed Sina Mirrazavi Salehian, Aileen Charlotte Naef, Karl Gustav Henriks

Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. Al ...

IEEE2020

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

Aude Billard, Salman Faraji, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

IEEE2020

Modular soft pneumatic actuator system design for compliance matching

Matthew Aaron Robertson

The future of robotics is personal. Never before has technology been as pervasive as it is today, with advanced mobile electronics hardware and multi-level network connectivity pushing â smartâ devices deeper into our daily lives through home automation ...

EPFL2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

Robotics: Science and Systems (RSS)2019

A Dynamical System Approach to Motion and Force Generation in Contact Tasks

Aude Billard, Mahdi Khoramshahi, Walid Amanhoud

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish or to grasp an object. It is crucial that the robot controls forces both upon making contact and while in contact. While many solutions exist to control for co ...

MIT PRESS2019