This paper presents a holistic approach for door opening with a cartesian impedance
controlled mobile robot, a KUICA KMR iiwa. Based on a given map of the environment, the …

This paper addresses the problem of grasped object weight compensation in the one-
handed manipulation of impedance controlled robots. In an exemplary identification …

The paper presents a systematic approach to robot control system design. The robot is
treated as an embodied agent decomposed into effectors, receptors, both real and virtual …

Current door-opening methods are mainly developed on tracked, wheeled and biped robots
by applying multi-DOF manipulators and vision systems. However, door-opening methods …

In the article the robotic system behavior is investigated for the complex door opening task.
The system consists of the 7-DOF KUKA LWR4+ manipulator, which is controlled in an …

The previous research on reactive torque control of redundant arms led to conclusion, that
initial arm kinematic configuration is vital for task executed with the use of Cartesian …

The paper presents an outline of the specification of a robot controller used in manipulation
tasks requiring object grasping by a multi-fingered gripper and interaction with the …

This paper presents an approach to optimize the control torque of heavy-duty redundant
manipulators used for dismantling nuclear power plants. Such manipulators must endure …

Redundant robots display unique capabilities, presenting equally unique challenges at the
same time. The solution to the inverse kinematics (IK) problem needs to account for a …

In the article, a reactive torque-based hierarchical task-space control for a robot with multiple
redundant DOFs is presented that is suitable to plan, validate and execute a humanoid …