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Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…
People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots…
Intelligent robot is the ultimate goal in the robotics field. Existing works leverage learning-based or optimization-based methods to accomplish human-defined tasks. However, the challenge of enabling robots to explore various environments…
Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
In this paper, we propose an evolutionary predatorprey robot system which can be generally implemented from simulation to the real world. We design the closed-loop robot system with camera and infrared sensors as inputs of controller. Both…
Robots often need to convey information to human users. For example, robots can leverage visual, auditory, and haptic interfaces to display their intent or express their internal state. In some scenarios there are socially agreed upon…
Human-Robot Teams offer the flexibility needed for partial automation in small and medium-sized enterprises (SMEs). They will thus be an integral part of Factories of the Future. Our research targets a particularly flexible teaming mode,…
This paper addresses the topic of robustness under sensing noise, ambiguous instructions, and human-robot interaction. We take a radically different tack to the issue of reliable embodied AI: instead of focusing on formal verification…
Creating robots with emotional personalities will transform the usability of robots in the real world. As previous emotive social robots are mostly based on statically stable robots whose mobility is limited, this paper develops an…
Interactive computational environments can help students explore algorithmic concepts through collaborative hands-on experimentation. However, static and instructor controlled demos in lectures limit engagement. Even when interactive…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…
Group processes refer to the dynamics that occur within a group and are critical for understanding how groups function. With robots being increasingly placed within small groups, improving these processes has emerged as an important…
Human-robot interaction combines robotics, cognitive science, and human factors to study collaborative systems. This paper introduces a method for identifying influential robot actions using transfer entropy, a statistic that measures…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
We are approaching a future where social robots will progressively become widespread in many aspects of our daily lives, including education, healthcare, work, and personal use. All of such practical applications require that humans and…
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…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most approaches in the literature rely upon a great understanding of…
As robots become more adaptable, responsive, and capable of interacting with humans, the design of effective human-robot collaboration becomes critical. Yet, this design process is typically led by monodisciplinary approaches, often…