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Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

We combine MAP-Elites and highly parallelisable simulation to explore the design space of a class of large legged robots, which stand at around 2m tall and whose design and construction is not well-studied. The simulation is modified to…

In this work, we investigate the use of co-design methods to iterate upon robot designs in the field, performing time sensitive, ad-hoc tasks. Our method optimizes the morphology and wheg trajectory for a MiniRHex robot, producing 3D…

Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…

Visual design is critical to product success, and the subject of intensive marketing research effort. Yet visual elements, due to their holistic and interactive nature, do not lend themselves well to optimization using extant…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…

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…

Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…

Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…

Nonverbal behaviors such as posture, gestures, and gaze are essential for conveying internal states, both consciously and unconsciously, in human interaction. For robots to interact more naturally with humans, robot movement design should…

Wearable technology has significantly improved the quality of life for older adults, and the emergence of on-body, movable robots presents new opportunities to further enhance well-being. Yet, the interaction design for these robots remains…

Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…

As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…

In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…

With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…

The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that…