Mobile manipulation has a broad range of applications in robotics. However, it is usually
more challenging than fixed-base manipulation due to the complex coordination of a mobile …

Redundancy resolution is of great importance in the control of manipulators. Among the
existing results for handling this issue, the quadratic program approaches, which are …

Coordination is essential in the design of dynamic control strategies for multi-arm robotic
systems. Given the complexity of the task and dexterity of the system, coordination …

Picking up objects and tossing them on a conveyor belt are activities generated on a daily
basis in industry. These tasks are still done largely by humans. This article proposes a …

In this paper we propose a novel approach for intuitive and natural physical human–robot
interaction in cooperative tasks. Through initial learning by demonstration, robot behavior …

Methods by which robots can learn control laws that enable real-time reactivity using
dynamical systems; with applications and exercises. This book presents a wealth of machine …

In this paper, we present a controller that combines motion generation and control in one
loop, to endow robots with reactivity and safety. In particular, we propose a control approach …

Many tasks require the robot to enter in contact with surfaces, be it to take support, to polish
or to grasp an object. It is crucial that the robot controls forces both upon making contact and …

We propose a physically-consistent Bayesian non-parametric approach for fitting Gaussian
Mixture Models (GMM) to trajectory data. Physicalconsistency of the GMM is ensured by …

State-dependent dynamical systems (DSs) offer adaptivity, reactivity, and robustness to
perturbations in motion planning and physical human–robot interaction tasks. Learning DS …