A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

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Compliance of the body has a crucial role on locomotion performance. The levels and the distribution of compliance should be well tuned to obtain efficient gait. The leg stiffness changes significantly even during different phases of a single gait cycle. T ...

Neuroprosthetics, the discipline that aims at interfacing neural systems to artificially engineered devices, has witnessed in recent years important advancements towards the ultimate goal of augmenting and restoring human functions through technology and a ...

Bio-hybrid systems made of robots and animals can be useful tools both for biology and robotics. To socially integrate robots into animal groups the robots should behave in a biomimetic manner with close loop interactions between robots and animals. Behavi ...

We present a fully edible pneumatic actuator based on gelatin-glycerol material. The actuator is monolithic, fabricated via a molding process, and measures 90 mm in length, 20 mm in width, and 17 mm in thickness. Thanks to the material mechanical character ...

The human hand is an amazing tool, demonstrated by its incredible motor capability and remarkable sense of touch. To enable robots to work in a human-centric environment, it is desirable to endow robotic hands with human-like capabilities for grasping and ...

In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and ass ...

Humanoid robots are gaining much interest nowadays. This is partly motivated by the ability of such robots to replace humans in dangerous environments being specifically designed for humans, such as man-made or natural disaster scenarios. However, existing ...

This paper presents a study of hand impedance measurements comparatively across ten professional and 14 novice manual welders, when they are performing tungsten inert gas (TIG) welding interactively with the KUKA lightweight robot arm (LWR). The results sh ...

This paper presents the concept and an example of robject, a robotic entity embedded in an everyday object. Robjects use the affordance of the original object to ensure an efficient interaction and a high acceptance. The example of the ranger robot shows t ...

Robot Learning from Demonstration (RLfD) has been identified as a key element for making robots useful in daily lives. A wide range of techniques has been proposed for deriving a task model from a set of demonstrations of the task. Most previous works use ...

A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

Chattez avec Graph Search

Effects of passive and active joint compliance in quadrupedal locomotion

Neuroprosthetics to support impaired hand functions: A multidisciplinary approach combining brain-machine interfaces and wearable exoskeletons

Automated Calibration of a Biomimetic Space-Dependent Model for Zebrafish and Robot Collective Behaviour in a Structured Environment

Soft Pneumatic Gelatin Actuator for Edible Robotics

Dynamic Grasp Adaptation : From Humans To Robots

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Bio-inspired balance controller for a humanoid robot

Hand Impedance Measurements During Interactive Manual Welding With a Robot

Ranger, an Example of Integration of Robotics into the Home Ecosystem

Learning Compliant Manipulation through Kinesthetic and Tactile Human-Robot Interaction