Related papers: Correct-by-Construction Approach for Self-Evolvabl…
Soft Robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced…
In situations such as habitat construction, station inspection, or cooperative exploration, incorrect assumptions about the environment or task across the team could lead to mission failure. Thus it is important to resolve any ambiguity…
Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object…
Advances in semiconductor technology are contributing to the increasing complexity in the design of embedded systems. Architectures with novel techniques such as evolvable nature and autonomous behavior have engrossed lot of attention. This…
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
Geometric organization of objects into semantically meaningful arrangements pervades the built world. As such, assistive robots operating in warehouses, offices, and homes would greatly benefit from the ability to recognize and rearrange…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
The amoebot model [Derakhshandeh et al., 2014] has been proposed as a model for programmable matter consisting of tiny, robotic elements called amoebots. We consider the reconfigurable circuit extension [Feldmann et al., JCB 2022] of the…
The rapid advancement of artificial intelligence is enabling the development of increasingly autonomous robots capable of operating beyond engineered factory settings and into the unstructured environments of human life. This shift raises a…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
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…
Language is compositional; an instruction can express multiple relation constraints to hold among objects in a scene that a robot is tasked to rearrange. Our focus in this work is an instructable scene-rearranging framework that generalizes…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…