32 Result(s)
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Article
Oussama Khatib
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Simulating the task-level control of human motion: a methodology and framework for implementation
A task-level control framework is proposed for providing feedback control in the simulation of goal-directed human motion. An operational space approach, adapted from the field of robotics, is used for this pu...
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Task-level approaches for the control of constrained multibody systems
This paper presents a task-level control methodology for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is r...
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Least action principles and their application to constrained and task-level problems in robotics and biomechanics
Least action principles provide an insightful starting point from which problems involving constraints and task-level objectives can be addressed. In this paper, the principle of least action is first treated wi...
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Editorial
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Editorial
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Open AccessUsing fMRI to characterize how cortex represents limb motions
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Editorial
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A Depth Space Approach for Evaluating Distance to Objects
We present a novel approach to estimate the distance between a generic point in the Cartesian space and objects detected with a depth sensor. This information is crucial in many robotic applications, e.g., for...
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Editorial
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Editorial
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Learning potential functions from human demonstrations with encapsulated dynamic and compliant behaviors
We consider the problem of devising a unified control policy capable of regulating both the robot motion and its physical interaction with the environment. We formulate this control policy by a non-parametric ...
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Preface
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Design optimization of hybrid actuation combining macro-mini actuators
A significant challenge in the development of human-safe robots is how to optimize performance while maintaining high safety standards. One promising solution is a hybrid actuation concept which combines low-f...
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Preface
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Preface
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Preface
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Editorial
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Progress and prospects of the human–robot collaboration
Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments. An import...
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Editorial
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