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This paper presents a first step towards the design and development of the control system of an All-Terrain Mobile Robot. Different requirements are taken into account with the aim of setting up an experimental test-bed to support research on autonomous vehicles and on electronic devices to enhance the safety in presence of human riders. Since the vehicle(More)
This manuscript presents an antiwindup technique for industrial regulators, aiming at gaining some control on the characteristics of 'large' transients (i.e., of transients involving significant control saturation). This is achieved by investigating the interplay between linear, in-the-small tuning rules, and the effects of the antiwindup itself. The(More)
Dynamic Movement Primitives (DMPs) are a common method for learning a control policy for a task from demonstration. This control policy consists of differential equations that can create a smooth trajectory to a new goal point. However, DMPs only have a limited ability to generalize the demonstration to new environments and solve problems such as obstacle(More)
The main purpose of this paper is to present an implicit force control scheme for 6 DoF industrial robots, whose compliance model takes into account both joint and link elasticities. The system composed by the robot and the environment is modeled by means of a simple equivalent elasticity at the end effector. A method to avoid limit cycles due to friction(More)
Robust controllers for robot manipulators ensure stability of the closed-loop system, even if only partial knowledge of the dynamic model of the manipulator is available. Existing derivations of robust-control laws, while guaranteeing the stability result, present an undesired dependence of the robust-control term on the gains of the controller for the(More)
Although force control algorithms have been studied for three decades, this technology is not largely exploited in industry yet. The present paper proposes a position-based adaptive force control strategy, that relies on a novel method for the on line estimation of the environment stiffness. The control design is targeted to industrial controller structures(More)
Classical control approaches to robot force control have been extensively addressed by research in the last decades and are now considered a paradigm when dealing with force control for industrial robots. With this respect, the present paper exploits the capability of state-of-the-art Quadratic Programming (QP) solvers to specify a simple and intuitive(More)
Removing the safety fences that separate humans and robots, to allow for an effective human-robot interaction, requires innovative safety control systems. An advanced functionality of a safety controller might be to detect the presence of humans entering the robotic cell and to estimate their intention, in order to enforce an effective safety reaction. This(More)
Research in the field of human kinematic analysis has gained interest in recent years and has fostered new ideas and expectations. Next generation manipulators are expected to resemble a human-like behaviour at kinematic level, in order to avoid any unease or discomfort (like fear or shock) to the nearby humans. In this work, a kinematic experimental(More)