Related papers: KittingBot: A Mobile Manipulation Robot for Collab…
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…
The task allocation problem in multi-robot systems (MRTA) is an NP-hard problem whose viable solutions are usually found by heuristic algorithms. Considering the increasing need of improvement on logistics, the use of robots for increasing…
This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carrying large and heavy furniture together. Given the scarcity of…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
One of today's goals for industrial robot systems is to allow fast and easy provisioning for new tasks. Skill-based systems that use planning and knowledge representation have long been one possible answer to this. However, especially with…
The use of autonomous robots for delivery of goods to customers is an exciting new way to provide a reliable and sustainable service. However, in the real world, autonomous robots still require human supervision for safety reasons. We…
Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
The development of advanced surgical systems embedding the Master-Slave control strategy introduced the possibility of remote interaction between the surgeon and the patient, also known as teleoperation. The present paper aims to integrate…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…