Conference Papers/Proceedings

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    De- ethnicisation, de-masculinisation and re-vitalization of the ubuntu paradigm for sustainable african development
    (Unpublished work, 2023-09) Kizito, Michael George
    Africa is in dire need of sustainable endogenous development perspectives geared at addressing the plethora of development challenges on the continent. This is because the current development ideologies reinforced in Africa, such as nee-liberalism, are racist, imperialistic, and imbued with paternalism and white saviourism. Intrinsic development paradigms for African Development, however, ought to be cognizant of the existential peculiarities in Contemporary Africa, such as 'White Africanisation' and embracing postmodern ethos. This paper uses critical theory, de-colonial and post-colonial criticism to argue that despite the volatile and recalcitrant critiques of the Ubuntu African paradigm, the framework has remained indispensable in African Development debates. The paper contends that the Ubuntu model for human well-being ought to be deconstructed and resituated to align with the pertinent development sustainabilities such as ethical sustainability, gender sustainability, ecological sustainability, and human rights sustainability.
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    Improved contact stability for admittance control of industrial robots with inverse model compensation
    (IEEE Xplore, 2024-12-25) Samuel, Kangwagye; Haninger, Kevin; Haddadin, Sami; Oh, Sehoon
    Industrial robots have increased payload, repeatability, and reach compared to collaborative robots, however, they have a fixed position controller and low intrinsic admittance. This makes realizing safe contact challenging due to large contact force overshoots in contact transitions and contact instability when the environment and robot dynamics are coupled. To improve safe contact on industrial robots, we propose an admittance controller with inverse model compensation, designed and implemented outside the position controller. By including both the inner loop and outer loop dynamics in its design, the proposed method achieves expanded admittance in terms of increasing both gain and cutoff frequency of the desired admittance. Results from theoretical analyses and experiments on a commercial industrial robot show that the proposed method improves rendering of the desired admittance while maintaining contact stability. We further validate this by conducting actual assembly tasks of plug insertion with fine positioning, switch insertion onto the rail, and colliding the robot end effector with random objects and surfaces, as seen at https://youtu.be/8XfkdHEdWDs.