This paper introduces a computationally efficient control scheme for safe human–robot
interaction. The method relies on the Explicit Reference Governor (ERG) formalism to …

The manufacturing industry is among the top wealth generating sectors of the global
economy and accounted for 15.3% and 10%, respectively, of the total European and …

Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-
fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of …

By mapping the performances of the task requirement and the inherent physical
characteristics of the robotic systems to the hybrid constraints, this article proposes a task …

Robotics in construction is an emerging field that aims to automate various construction
activities. Among the various innovative technologies for the construction sector, in this …

This work presents the design and the corresponding stability analysis of a desired model-
based, joint position constrained, controller formulation for robotic manipulators. Specifically …

As with all actuated mechanical systems, the development of a control scheme for robotic
systems must take actuator saturation into account. Furthermore, in order to properly control …

In the past years, manufacturers have been moving from automated mass production to
automated mass customization, where robotic manipulators work side-by-side with human …

Robotic manipulators that can coexist with humans need formal safety guarantees. Current
solutions cannot handle both input and state constraints, reduce the robot capabilities, or are …

Reference and Command Governors (RG & CG) are add-on schemes that enforce pointwise-
in-time constraints on prestabilized safety-critical systems. More recently, the introduction of …