Whole-body control in unknown environments is challenging: Unforeseen contacts with
obstacles can lead to poor tracking performance and potential physical damages of the …

Humanoid robots are expected to act in human environments, where some of the contacts
can be non-rigid. A fairly large amount of work has been devoted to the whole-body control …

In this paper, we present an end-to-end approach transforming multi-modal tactile signals
into a compliant control to generate different dynamic robot behaviors. This is obtained by …

This paper investigates the role of precise estimation of contact points in force control. This
analysis is motivated by scenarios in which robots make contacts, either voluntarily or …

This paper describes a procedure aimed to integrate tactile sensors into a real robot in order
to create a platform suitable for human-robot physical interaction experiments. Furthermore …

We introduce and evaluate contact-based techniques to estimate tactile properties and
detect manipulation events using a biomimetic tactile sensor. In particular, we estimate …

This letter presents a model of compliant contacts for time-critical humanoid robot motion
control. The proposed model considers the environment as a continuum of spring-damper …

In this paper, we address the issue of whole-body compliance with hierarchical force
propagation for omnidirectional mobile manipulators. Using the multimodal tactile feedback …

This article introduces an extension of the original Parallel Force-Position control framework
based on the use of tactile maps. Whole body skin systems for humanoid robots are …

Humanoid robots propel themselves and perform tasks by interacting with their environment
through contact forces. Typically, nonuniqueness of these forces is dealt with by distributing …