Compliant robot motion: I. A formalism for specifying compliant motion tasks
International Journal of Robotics Research
Compliant robot motion II. A control approach based on external control loops
International Journal of Robotics Research
An Behavior-based Robotics
A framework for using tactile data in autonomous reactive manipulation
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
A framework for compliant physical interaction
Autonomous Robots
Recency-based storage assignment and warehouse configuration for recurrent demands
Computers and Industrial Engineering
Exploring children's attitudes towards static and moving humanoid robots
HCI'13 Proceedings of the 15th international conference on Human-Computer Interaction: users and contexts of use - Volume Part III
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This paper presents a modular control architecture that enables a mobile manipulator to be compliant and perform manipulation tasks in partially known everyday human environments. An impedance velocity/force controller that allows the execution of a great variety of tasks under the Task Frame Formalism (TFF) is implemented. Tasks are represented as a net of basic abilities which are performed by the robot using the impedance controller. Mechanisms for switching between abilities according to the robot's perceptual state are defined. We show the validity of our approach on the UJI Service Robot, making it to perform a common daily task such as opening a door. Finally, we apply this framework to make progress on the new version of the UJI Librarian Robot, making a great step forward in the way the robot manipulates books.