Author Archives: fraisse

Stable-by-Design Kinematic Control Based on Optimization This paper presents a new kinematic control paradigm for redundant robots based on optimization. The general approach takes into account convex objective functions with inequality constraints and a specific equality constraint resulting from a … Continue reading →

Motion Discontinuity-Robust Controller for Steerable Mobile Robots (IEEE RA-L 2017): Steerable wheeled mobile robots (SWMR) are able to perform arbitrary 3D planar trajectories, only after initializing the steer joint vector to the proper values. These robots employ fully steerable conventional … Continue reading →

Parsimonious Kinematic Control of Highly Redundant Robots  (IEEE RA-L, 2016): When a robot is highly redundant in comparison to the task to be executed, current control techniques are not “economic” in the sense that they demand, most of the time unnecessarily, … Continue reading →

Kinematic modeling and control for human-robot cooperation considering different interaction roles (Robotica, 2015) This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative … Continue reading →

Multimodal control for human-robot cooperation (IROS’13) For intuitive human-robot collaboration, the robot must quickly adapt to the human behavior. To this end, we propose a multimodal sensor-based control framework, enabling a robot to recognize human intention, and consequently adapt its control … Continue reading →