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Chapter and Conference Paper
Deployment of Algorithms for Autonomous Drone Racing in a Real Environment
Autonomous drone racing (ADR) has proven to be a good training ground for develo** and testing algorithms for autonomous drones. It usually requires specific conditions not available to many researchers. In ...
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Chapter and Conference Paper
Physical Interaction Interpretation in Industrial Robotics Using Dynamic Time War** Principles
This paper presents an approach to interpretation of the context of physical interaction of a robot with its surroundings using principles of Dynamic Time War** (DTW). Forces originating from physical intera...
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Chapter and Conference Paper
Robot’s Cartesian Stiffness Adjustment Through the Stiffness Ellipsoid Sha**
One of the key properties that define the behaviour of the compliant robot with its environment is end-effector (EE) Cartesian stiffness
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Chapter and Conference Paper
Input-Observer-Based Estimation of the External Torque for Single-Link Flexible-Joint Robots
To enable safe interaction between a robot and its environment, it is necessary to monitor in real-time the external torque that acts on the robot. This paper proposes a strategy that exploits solely encoder a...
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Chapter and Conference Paper
Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control ...
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Chapter and Conference Paper
Influence of Unmodelled External Forces on the Quality of Collision Detection
Physical Human-Robot Interaction requires collision detection to enable a safe sharing of workspace between humans and robots, mostly using model based algorithms. Majority of robot tasks involve physical int...
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Chapter and Conference Paper
Feedforward Control Approaches to Bidirectional Antagonistic Actuators Based on Learning
Safe physical human-robot interaction is a decisive feature in wider adaptation of robots in homes and factories. To that end, a lot of researchers consider new actuation mechanisms and particularly Variable ...
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Chapter and Conference Paper
Maximizing the End-Effector Cartesian Stiffness Range for Kinematic Redundant Robot with Compliance
Compliant robots with constant joint stiffness (Serial Elastic Actuators - SEA), on the contrary to ones with variable joint stiffness (Variable Stiffness Actuators – VSA), have limited capabilities for modul...
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Chapter and Conference Paper
KUKA LWR Robot Cartesian Stiffness Control Based on Kinematic Redundancy
This paper is dealing with one important topic for physical human-robot interaction, and that is achieving and/or optimizing of an arbitrary Cartesian stiffness of robot’s end-effector (EE). The focus is give...
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Chapter and Conference Paper
Cascade Gain Scheduling Control of Antagonistic Actuators Based on System Identification
This paper presents cascade control approach for simultaneous position and stiffness control of antagonistic actuators, which can be easily applied to other types of Variable Stiffness Actuators (VSA). The con...
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Chapter and Conference Paper
Fully Integrated Torque-Based Collision Detection in Periodic Tasks for Industrial Robots with Closed Control Architecture
This paper presents an implementation and experimental validation of an algorithm for collision detection for industrial robots performing repetitive tasks. Collisions are detected by using two decision rules,...
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Chapter and Conference Paper
Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives
This paper investigates how to split actuating torques between prime movers in bidirectional antagonistic actuators to obtain desired Cartesian stiffness with minimal energy store. Minimal energy in elastic el...
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Chapter and Conference Paper
Development of Virtual Laboratory for Mechatronic Systems
Laboratory experimentation is one of the key issues for the successful education and research. This applies particularly to engineering sciences, where experimental setups provide a deeper understanding of the...
