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The subject of the paper is the motion control problem of wheeled mobile robots (WMRs) in environments without obstacles. With reference to the popular unicycle kinematics, it is shown that dynamic… Continue Reading
IEEE/RSJ International Conference on Intelligent…
A robot manipulator sharing its workspace with humans should be able to quickly detect collisions and safely react for limiting injuries due to physical contacts. In the absence of external sensing,… Continue Reading
Closed-form equations of motion are presented for planar lightweight robot arms with multiple flexible links. The kinematic model is based on standard frame transformation matrices describing both… Continue Reading
Proceedings IEEE International Conference on…
We consider the trajectory tracking control problem for a 4-wheel differentially driven mobile robot moving on an outdoor terrain. A dynamic model is presented accounting for the effects of wheel… Continue Reading
IEEE International Conference on Robotics and…
In this paper a real-time collision avoidance approach is presented for safe human-robot coexistence. The main contribution is a fast method to evaluate distances between the robot and possibly… Continue Reading
IEEE/RSJ International Conference on Intelligent…
In the framework of physical human-robot interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and… Continue Reading
In the classical image-based visual servoing framework, error signals are directly computed from image feature parameters, allowing, in principle, control schemes to be obtained that need neither a… Continue Reading
IEEE International Conference on Robotics and…
We present a method based on the use of generalized momenta for detecting and isolating actuator faults in robot manipulators. The FDI scheme does not need acceleration estimates or simulation of the… Continue Reading
The subject of this chapter is the motion control problem of wheeled mobile robots (WMRs). With reference to the unicycle kinematics, we review and compare several control strategies for trajectory… Continue Reading
For us humans, walking is our most natural way of moving through the world. One of the major challenges in present research on navigation in virtual reality is to enable users to physically walk… Continue Reading