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Behind the concept of Industry 4.0, there are a number of principles and ideas; one of them is the integration of problems of different decision levels. In this work, we integrate maintenance with planning problems, aiming to take full…
Modern hardware environments are becoming increasingly heterogeneous, leading to the emergence of applications specifically designed to exploit this heterogeneity. Efficiently adopting locks in these applications poses distinct challenges.…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
This paper presents an $\mathcal{H}_\infty$ model matching control-based approach to the problem of power hardware-in-the-loop (PHIL) interfacing. The objective is to interconnect a grid simulation and a physical device via an interface in…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
Processing-in-Memory (PIM) architectures offer promising solutions for efficiently handling AI applications in energy-constrained edge environments. While traditional PIM designs enhance performance and energy efficiency by reducing data…
Humanoid robots, with their human-like form, are uniquely suited for interacting in environments built for people. However, enabling humanoids to reason, plan, and act in complex open-world settings remains a challenge. World models, models…
Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on sensor-based measures, such as relative distance and…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Tests and prototyping are vital in the research and development of robotic systems. Work with target hardware is problematic. Hence, in the article, a low-cost, miniaturised physical platform is presented to deal with experiments on…
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…
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…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…
A key component of any robot is the interface between robotics middleware software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and…
The adoption of Autonomous Mobile Robots (AMRs) for internal logistics is accelerating, with most solutions emphasizing decentralized, onboard intelligence. While AMRs in indoor environments like factories can be supported by…
Robots are increasingly deployed in spaces shared with humans, including home settings and industrial environments. In these environments, the interaction between humans and robots (HRI) is crucial for safety, legibility, and efficiency. A…
Recent years have witnessed the proposals aiming at enabling Vertical, two-sided markets with a Single Marketplace (or exchange) (VSMs) for computing and data resources/services (products) offerings in a multi-cloud and crowdsourced…
A majority of microrobots are constructed using compliant materials that are difficult to model analytically, limiting the utility of traditional model-based controllers. Challenges in data collection on microrobots and large errors between…