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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)
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)
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)
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)
The performance of modern motion control systems are strongly related to the resolution of the position sensor and to the digital filtering algorithm used to estimate the velocity. Despite the crucial importance of velocity estimation, however, a systematic approach to analyse and assess the performance of these estimators is still lacking. The present work(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)
This paper investigates the use of policy gradient techniques to approximate the Pareto frontier in Multi-Objective Markov Decision Processes (MOMDPs). Despite the popularity of policy gradient algorithms and the fact that gradient ascent algorithms have been already proposed to numerically solve multi-objective optimization problems, especially in(More)
This paper discusses methods to avoid collisions between a robot and an obstacle, based on distance feedback given by a laser Time Of Flight (TOF) sensor. Two solutions are presented: the former (GCT: Geometry Consistent Trajectory) preserves the geometrical properties of the trajectory, while the latter (TCT: Time Consistent Trajectory) aims at preserving(More)