Mathieu Célérier
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Safe Execution of RL Policies via Second-Order QP Constraint Enforcement for Real-World Robotic Deployments Open
Reinforcement Learning (RL) has demonstrated remarkable capabilities for solving complex robotic control problems, but its lack of safety guarantees severely limits deployment on hardware. In particular, as legged robots and manipulators …
View article: Explicit compliance and safety on torque controlled robots for physical interaction
Explicit compliance and safety on torque controlled robots for physical interaction Open
This paper introduces a new paradigm of compliant control for torque-controlled robots through the notion of explicit compliance, which enables selective and tunable compliance for each task or joint in a control hierarchy. We reformulate …
Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications Open
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment of pHRI to industrial-grade performance. This paper introduc…
View article: Explicit safety and compliance on torque controlled robots for physical interaction
Explicit safety and compliance on torque controlled robots for physical interaction Open
This paper presents a framework aimed at improving safety and compliance in dynamic physical interactions for precise torque-controlled rigid-body robots. The framework uses a quadratic program (QP) in the motion generation formulation tha…
Visual servoing for dual arm shaping of soft objects in 3D Open
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