Related papers: Modeling Reusable, Platform-Independent Robot Asse…
In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicative for coordination.…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
The Industrial Assembly Challenge at the World Robot Summit was held in 2018 to showcase the state-of-the-art of autonomous manufacturing systems. The challenge included various tasks, such as bin picking, kitting, and assembly of standard…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…
In this paper, an adaptive and low-cost robotic coating platform for small production series is presented. This new platform presents a flexible architecture that enables fast/automatic system adaptive behaviour without human intervention.…
Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…
The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the…
Recent work leverages the capabilities and commonsense priors of generative models for robot control. In this paper, we present an agentic control system in which a reasoning-capable language model plans and executes tasks by selecting and…
Robotics tasks are highly compositional by nature. For example, to perform a high-level task like cleaning the table a robot must employ low-level capabilities of moving the effectors to the objects on the table, pick them up and then move…
This paper presents a framework to enable a team of heterogeneous mobile robots to model and sense a multiscale system. We propose a coupled strategy, where robots of one type collect high-fidelity measurements at a slow time scale and…
As access to space and robotic autonomy capabilities move forward, there is simultaneously a growing interest in deploying large, complex space structures to provide new on-orbit capabilities. New space-borne observatories, large orbital…
Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The challenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity…
Soft robotics is a modern robotic paradigm for performing dexterous interactions with the surroundings via morphological flexibility. The desire for autonomous operation requires soft robots to be capable of proprioception and makes it…
Industrial robots are designed as general-purpose hardware with limited ability to adapt to changing task requirements or environments. Modular robots, on the other hand, offer flexibility and can be easily customized to suit diverse needs.…
We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both…
Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…