This paper presents an analytical model to compensate for the compliance errors of a Delta
parallel robot as the mini robot, which is mounted at the end effector of an articulated robot to …

The importance of robot contact operation control has been increasing recently due to a
need for robots to interact more with the outside world. However, traditional robot …

Purpose The purpose of this paper is to take transient contact force response, overshoots
and steady-state force tracking error problems into account to form an excellent force …

In this article, a passive physical human-robot interaction (pHRI) controller is proposed to
enhance pHRI performance in terms of precision, cognitive load, and user effort, in cases …

Purpose The study aims to equip robots with the ability to precisely maintain interaction
forces, which is crucial for tasks such as polishing in highly dynamic environments with …

Performance in adaptive control designs for uncertain nonlinear systems, whose uncertainty
is not purely parametric, was traditionally restricted to enforcing, besides stability, desirable …

Current frameworks for vendor-neutral robot programming fall short in transferring real-world
manufacturing processes amongst different robot cell configurations. This paper focuses on …

In order to achieve true autonomy, robots have to be able to handle complex and rough
terrain generally found outside of the lab. Legged robotics has become the focal point in …

In this work, we consider a novel adaptive hybrid pose/force control strategy for uncertain
robot manipulators capable of performing interaction tasks on poorly structured …

In industrial robotics, controller parameters for force control must be adjusted to the specific
robot that performs a task and they must be re-adjusted when the same task is to be …