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In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
This research considers the task of evolving the physical structure of a robot to enhance its performance in various environments, which is a significant problem in the field of Evolutionary Robotics. Inspired by the fields of evolutionary…
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…
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…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but…
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,…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
The integration of the physical capabilities of an industrial collaborative robot with a social virtual character may represent a viable solution to enhance the workers' perception of the system as an embodied social entity and increase…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in…
While single-agent legged locomotion has witnessed remarkable progress, individual robots remain fundamentally constrained by physical actuation limits. To transcend these boundaries, we introduce Co-jump, a cooperative task where two…
The field of robotics has seen significant advancements in recent years, particularly in the development of humanoid robots. One area of research that has yet to be fully explored is the design of robotic eyes. In this paper, we propose a…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
We aim to design robotic educational support systems that can promote socially and intellectually meaningful learning experiences for students while they complete school work outside of class. To pursue this goal, we conducted participatory…