In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

This letter deals with the problem of controlling a robotic system whose joints have bounded
position, velocity, and acceleration/torque. Assuming a discrete-time acceleration control, we …

The task-based control framework is well established for its ability to generate complex
behavior in versatile robots. When executing multiple complex tasks, continuous and stable …

The increasing interest in autonomous robots with a high number of degrees of freedom for
industrial applications and service robotics demands control algorithms to handle multiple …

Despite the many advances in collaborative robotics, collaborative robot control laws remain
similar to the ones used in more standard industrial robots, significantly reducing the …

In this paper, we present an approach for learning collision-free robot trajectories in the
presence of moving obstacles. As a first step, we train a backup policy to generate evasive …

Although Tunnel Boring Machine (TBM) is a well-developed semi-automated equipment for
infrastructure construction, it still needs manual operation such as disc cutter changing task …

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 …

In this paper, we propose a physically meaningful energy-related safety indicator for robots
sharing their workspace with humans. Based on this indicator, a safety criterion accounting …

In this paper, a control solution featuring an energetic constraint is developed to improve the
safety of a robotic manipulator sharing its workspace with humans. This general control …