Transferring the motion from a human operator to a humanoid robot is a crucial step to enable
robots to learn from and replicate human movements. The ability to retarget in realtime …

Over the years, there have been many improvements in job-related safety standards and
working conditions, but there are still many situations and environments where human lives are …

One of the key problems in planning and control of redundant robots is the fast generation
of controls when multiple tasks and constraints need to be satisfied. In the literature, this …

With the majority of mobile robot path planning methods being focused on obstacle avoidance,
this paper, studies the problem of Navigation Among Movable Obstacles (NAMO) in an …

In order to guarantee precision and safety in robotic surgery, accurate models of the robot
and proper control strategies are needed. Bayesian Neural Networks (BNN) are capable of …

We introduce a novel approach for learning a complex multi-stage needle pick-and-place
manipulation task for surgical applications using Reinforcement Learning without expert …

From a control point of view, humanoid gait generation can be seen as a problem of
tracking a suitable ZMP trajectory while guaranteeing internal stability. In the presence of …

Generating complex movements in redundant robots like humanoids is usually done by
means of multi-task controllers based on quadratic programming, where a multitude of tasks is …

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially
in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper …

By exploiting an a-priori estimate of the dynamic model of a manipulator, it is possible to
command joint torques which ideally realize a Feedback Linearization (FL) controller. The exact …