Related papers: Trajectory Deformations from Physical Human-Robot …
Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…
Most human-robot interfaces, such as joysticks and keyboards, require training and constant cognitive effort and provide a limited degree of awareness of the robots state and its environment. Embodied interactions, instead of interfaces,…
Recent advances in sensing, communication, interfaces, control, and robotics are expanding Human-Building Interaction (HBI) beyond adaptive building services and facades toward the physical actuation of architectural space. In parallel,…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
Accurate prediction of human behavior is crucial for effective human-robot interaction (HRI) systems, especially in dynamic environments where real-time decisions are essential. This paper addresses the challenge of forecasting future human…
The goal of the Interactive Learning for Artificial Intelligence (AI) for Human-Robot Interaction (HRI) symposium is to bring together the large community of researchers working on interactive learning scenarios for interactive robotics.…
In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…
This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body…
When personal, assistive, and interactive robots make mistakes, humans naturally and intuitively correct those mistakes through physical interaction. In simple situations, one correction is sufficient to convey what the human wants. But…
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…
In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…
Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Robots can serve as safety catalysts on construction job sites by taking over hazardous and repetitive tasks while alleviating the risks associated with existing manual workflows. Research on the safety of physical human-robot interaction…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…