Search Results - "Flacco, F."

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  1. 1
    A depth space approach to human-robot collision avoidance

    A depth space approach to human-robot collision avoidance by Flacco, F., Kroger, T., De Luca, A., Khatib, O.

    “…In this paper a real-time collision avoidance approach is presented for safe human-robot coexistence. The main contribution is a fast method to evaluate…”
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  2. 2
    Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space

    Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space by Flacco, Fabrizio, De Luca, Alessandro, Khatib, Oussama

    Published in IEEE transactions on robotics (01-06-2015)
    “…We present an efficient method for addressing online the inversion of differential task kinematics for redundant manipulators, in the presence of hard limits…”
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  3. 3
    Prioritized multi-task motion control of redundant robots under hard joint constraints

    Prioritized multi-task motion control of redundant robots under hard joint constraints by Flacco, F., De Luca, A., Khatib, O.

    “…We present an efficient method for motion control of redundant robots performing multiple prioritized tasks in the presence of hard bounds on joint range,…”
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  4. 4
    Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device

    Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device by De Luca, A., Flacco, F., Bicchi, A., Schiavi, R.

    “…Variable stiffness actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With…”
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  5. 5
    Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration

    Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration by De Luca, A., Flacco, F.

    “…We present an integrated control framework for safe physical Human-Robot Interaction (pHRI) based on a hierarchy of consistent behaviors. Safe human robot…”
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  6. 6
    Motion control of redundant robots under joint constraints: Saturation in the Null Space

    Motion control of redundant robots under joint constraints: Saturation in the Null Space by Flacco, F., De Luca, A., Khatib, O.

    “…We present a novel efficient method addressing the inverse differential kinematics problem for redundant manipulators in the presence of different hard bounds…”
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  7. 7
    Integration of active and passive compliance control for safe human-robot coexistence

    Integration of active and passive compliance control for safe human-robot coexistence by Schiavi, R., Bicchi, A., Flacco, F.

    “…In this paper we discuss the integration of active and passive approaches to robotic safety in an overall scheme for real-time manipulator control. The active…”
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  8. 8
    Dynamic gravity cancellation in robots with flexible transmissions

    Dynamic gravity cancellation in robots with flexible transmissions by De Luca, A, Flacco, F

    “…We consider the problem of perfect cancellation of gravity effects in the dynamics of robot manipulators having flexible transmissions at the joints. Based on…”
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