Related papers: A Landauer Limit for Robotic Manipulation
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
The erasure of a bit of information encoded in a physical system is an irreversible operation bound to dissipate an amount of energy $Q = k_\text{B} T\ln 2$. As a result, work $W \geq Q$ has to be applied to the physical system to restore…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Landauer's principle, often regarded as the foundation of the thermodynamics of information processing, holds that any logically irreversible manipulation of information, such as the erasure of a bit or the merging of two computation paths,…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
Biological lifeforms can heal, grow, adapt, and reproduce -- abilities essential for sustained survival and development. In contrast, robots today are primarily monolithic machines with limited ability to self-repair, physically develop, or…
Robotic systems that are intended to augment human capabilities commonly require the use of semi-autonomous control and artificial sensing, while at the same time aiming to empower the user to make decisions and take actions. This work…
Using a double-well potential as a physical memory, we study with experiments and numerical simulations the energy exchanges during erasure processes, and model quantitatively the cost of fast operation. Within the stochastic thermodynamics…
Landauer's principle states that erasure of each bit of information in a system requires at least a unit of energy $k_B T \ln 2$ to be dissipated. In return, the blank bit may possibly be utilized to extract usable work of the amount $k_B T…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Second law of thermodynamics can be apparently violated for systems whose dynamics depends on acquired information by measurement. However, when one consider measurement and erasure process together along with the system it saves the second…
Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…
Energy consumption optimization of a two-link planar robotic arm is considered with the system's efficiency being the target for optimization. A new formulation of thermodynamic principles within the framework of dynamical systems is used.…
Chemists need to perform many laborious and time-consuming experiments in the lab to discover and understand the properties of new materials. To support and accelerate this process, we propose a robot framework for manipulation that…
The Landauer principle states that at least $k_B T \ln 2$ of energy is required to erase a 1-bit memory, with $k_B T$ the thermal energy of the system. We study the effects of inertia on this bound using as one-bit memory an underdamped…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…