Robots are more often deployed in unstructured or unpredictable environments. Particularly
collisions at high speed can severely damage the drivetrains and joint bearings of robots. In …

This paper proposes a combined optimization and learning method for impact-friendly, non-
prehensile catching of objects at non-zero velocity. Through a constrained Quadratic …

Industrial robots are capable of moving at high speed. Each time they come into contact with
their environment, eg to pick up an object, they decelerate to a near standstill. A solution …

This paper proposes a novel Hierarchical Quadratic Programming (HQP)-based framework
that enables multi-tasking control under multiple Human-Robot Interaction (HRI) scenarios …

The focus of this thesis is related to the employment of redundant robots in the field of
Human-Robot Collaboration (HRC), given their great potential in accomplishing complex …