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In this work, we propose a trajectory generation method for robotic systems with contact kinematics and force constraints based on optimal control and reachability analysis tools. Normally, the dynamics and constraints of a contact-constrained robot are nonlinear and coupled to each other....
Social robot capabilities, such as talking gestures, are best produced using data driven approaches to avoid being repetitive and to show trustworthiness. However, there is a lack of robust quantitative methods that allow to compare such methods beyond visual evaluation. In this paper a...
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