Passive motion paradigm: an alternative to optimal control
In the last years, optimal control theory (OCT) has emerged as the leading approach for
investigating neural control of movement and motor cognition for two complementary …
investigating neural control of movement and motor cognition for two complementary …
Task-space control of robot manipulators with null-space compliance
H Sadeghian, L Villani, M Keshmiri… - IEEE Transactions on …, 2013 - ieeexplore.ieee.org
In this paper, the problem of controlling a robot manipulator in task space, while
guaranteeing a compliant behavior for the redundant degrees of freedom, is considered …
guaranteeing a compliant behavior for the redundant degrees of freedom, is considered …
An experimental evaluation of a novel minimum-jerk cartesian controller for humanoid robots
In this paper we describe the design of a Cartesian Controller for a generic robot
manipulator. We address some of the challenges that are typically encountered in the field of …
manipulator. We address some of the challenges that are typically encountered in the field of …
Muscleless motor synergies and actions without movements: From motor neuroscience to cognitive robotics
Emerging trends in neurosciences are providing converging evidence that cortical networks
in predominantly motor areas are activated in several contexts related to 'action'that do not …
in predominantly motor areas are activated in several contexts related to 'action'that do not …
The design of the iCub humanoid robot
This article describes the hardware design of the iCub humanoid robot. The iCub is an open-
source humanoid robotic platform designed explicitly to support research in embodied …
source humanoid robotic platform designed explicitly to support research in embodied …
Force feedback exploiting tactile and proximal force/torque sensing: Theory and implementation on the humanoid robot iCub
The paper addresses the problem of measuring whole-body dynamics for a multiple-branch
kinematic chain in presence of unknown external wrenches. The main result of the paper is …
kinematic chain in presence of unknown external wrenches. The main result of the paper is …
A novel reactive-type joint torque sensor with high torsional stiffness for robot applications
If a collaborative robot can measure contact force when in contact with the environment or
humans, it can achieve better performance on collision detection, hand guiding, and force …
humans, it can achieve better performance on collision detection, hand guiding, and force …
[HTML][HTML] An inverse kinematics solution with trajectory scaling for redundant manipulators
Ł Woliński, M Wojtyra - Mechanism and Machine Theory, 2024 - Elsevier
Kinematic redundancy offers robots many useful capabilities, such as an ability to fulfill
several tasks simultaneously. However, the inverse kinematics (IK) problem for redundant …
several tasks simultaneously. However, the inverse kinematics (IK) problem for redundant …
The coordinating role of language in real-time multimodal learning of cooperative tasks
One of the defining characteristics of human cognition is our outstanding capacity to
cooperate. A central requirement for cooperation is the ability to establish a “shared plan” …
cooperate. A central requirement for cooperation is the ability to establish a “shared plan” …
Neural learning of vector fields for encoding stable dynamical systems
The data-driven approximation of vector fields that encode dynamical systems is a
persistently hard task in machine learning. If data is sparse and given in the form of …
persistently hard task in machine learning. If data is sparse and given in the form of …