This article presents the concept of model predictive interaction control (MPIC) as a generic,
flexible, and comprehensive approach for robotic manipulation tasks. MPIC is based on the …

Robots are more and more often designed in order to perform tasks in synergy with human
operators. In this context, a current research focus for collaborative robotics lies in the design …

The development of modern sensitive lightweight robots allows the use of robot arms in
numerous new scenarios. Especially in applications where interaction between the robot …

Many robotic tasks, such as human-robot interactions or the handling of fragile objects,
require tight control and limitation of appearing forces and moments alongside sensible …

This paper discusses the use of model predictive control (MPC) for industrial robot
applications with physical robot-environmental interaction. A model predictive interaction …

This paper addresses the problem of transporting a rigid box filled with unknown objects
with a dual-arm robotic system. Enforcing non-sliding contact behavior, which guarantees …

Nonlinear model-predictive control has recently shown its practicability in robotics. However
it remains limited in contact interaction tasks due to its inability to leverage sensed efforts. In …

Many robotic applications require control of the applied forces or moments. Model predictive
control allows for the direct or indirect control of forces, while taking constraints into account …

This paper introduces and compares the three most relevant approaches in which an Aerial
Physical Interaction (APhI) control can include a Nonlinear Model Predictive Control (NMPC) …

In this paper, we propose a model predictive control (MPC) that accomplishes interactive
robotic tasks, in which multiple contacts may occur at unknown locations. To address such …