Author

Federico Ulloa Rios

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Conference Aug 2026

Robust Force-Controlled Robotic Insertion Skills for Geometrically Diverse Parts Under Uncertainty

This paper presents a generic model-based methodology for defining and executing robust force-based insertion skills capable of handling geometric uncertainties in robotic assembly tasks with sub-millimiter clearance fits. The approach can deal with geometric variability (i.e. different object shapes), insertions with...

Federico Ulloa Rios, S. Iregui, E. Aertbeliën et al. · 2026 IEEE 22nd International... · 0 citations

Jul 2026

Robot Trajectron V3: A Probabilistic Shared Control Framework for SE(3) Manipulation

Robot Trajectron V3 (RT-V3), a probabilistic shared control framework designed for grasping tasks, formulates shared control as Bayesian inference by learning a prior over user intent and combining it with real-time user commands to estimate the posterior intent distribution.

Pinhao Song, Zhongxin Li, Zeyang Fu et al. · arXiv.org · 0 citations