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This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPipe as a computer vision…
Simulation is an important step in robotics for creating control policies and testing various physical parameters. Soft robotics is a field that presents unique physical challenges for simulating its subjects due to the nonlinearity of…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
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…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
Black-box optimization (BBO) has a broad range of applications, including automatic machine learning, engineering, physics, and experimental design. However, it remains a challenge for users to apply BBO methods to their problems at hand…
This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such…
Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial continuum robot platform is available, a large variety of early-stage prototypes exists. These prototypes are developed by individual…
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation. We introduce OSMO, an open-source wearable tactile glove…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
In the search for a sustainable approach for software ecosystems that supports experimental and observational science (EOS) across Oak Ridge National Laboratory (ORNL), we conducted a survey to understand the current and future landscape of…
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoMoCo's modular architecture unifies state-of-the-art planners…
After Industry 4.0 has embraced tight integration between machinery (OT), software (IT), and the Internet, creating a web of sensors, data, and algorithms in service of efficient and reliable production, a new concept of Society 5.0 is…
The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed…
The interaction of humans and robots in less constrained environments gains a lot of attention lately and the safety of such interaction is of utmost importance. Two ways of risk assessment are prescribed by recent safety standards: (i)…
This paper presents an extension of the OpenAI Gym for robotics using the Robot Operating System (ROS) and the Gazebo simulator. The content discusses the software architecture proposed and the results obtained by using two Reinforcement…
We present M, an open-source, low-cost social robot platform designed to reduce platform friction that slows social robotics research by making robots easier to reproduce, modify, and deploy in real-world settings. M combines a modular…
This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…
Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic…
With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high…