Rather than traditional position control, impedance control is preferred to ensure the safe
operation of industrial robots programmed from demonstrations. However, variable stiffness …

Despite recent advancements in torque-controlled tactile robots, integrating them into
manufacturing settings remains challenging, particularly in complex environments …

Tactile robots can perform complex interaction skills, eg, polishing. Such robots should
therefore be designed to be adaptive to environmental uncertainties such as changing …

Controlling the exact Cartesian stiffness values of a robot end-effector (EE) is troublesome
because of difficulties associated with estimating the stiffness and controllability of a full …

Reinforcement learning (RL) has emerged as a promising paradigm in complex and
continuous robotic tasks, however, safe exploration has been one of the main challenges …

This paper focuses on achieving rapid convergence in finite time for robust trajectory
tracking of robotic manipulators, which upper-bound uncertainties are unknown. To address …

2.3 Training the VAE of the LEM requires a dataset of human postures. For each posture an
ergonomics score exists. In our experiments, as a dataset, we used:(1) the AnDy dataset …

抄録 In contact-rich tasks, robots can correct positional errors by generating compliant
motion. Methods using compliance control have the advantage of easily adjusting …