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Humanoid soccer robots perceive their environment exclusively through cameras. This paper presents a monocular vision system that was originally developed for use in the RoboCup Humanoid League, but is expected to be transferable to other…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
The Robot Operating System (ROS) provides a software framework, and ecosystem of knowledge and community supplied resources to rapidly develop and prototype intelligent robotics applications. By standardizing communication, configuration…
Within the field of robotics, computer vision remains a significant barrier to progress, with many tasks hindered by inefficient vision systems. This research proposes a generalized vision module leveraging YOLOv9, a state-of-the-art…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Neuromorphic systems open up opportunities to enlarge the explorative space for computational research. However, it is often challenging to unite efficiency and usability. This work presents the software aspects of this endeavor for the…
We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus…
Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot…
Several deployment locations of mobile robotic systems are human made (i.e. urban firefighter, building inspection, property security) and the manager may have access to domain-specific knowledge about the place, which can provide semantic…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…
In this paper, we present an in-depth analysis of Navigation Among Movable Obstacles (NAMO) literature, notably highlighting that social acceptability remains an unadressed problem in this robotics navigation domain. The objectives of a…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
We introduce $\Psi_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and…
Orientation and Motion Sensing are widely implemented on various consumer products, such as mobile phones, tablets and cameras as they enable immediate interaction with virtual information. The prototyping phase of any orientation and…
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
In recent years, labor shortages due to the declining birthrate and aging population have become significant challenges at construction sites in developed countries, including Japan. To address these challenges, we are developing an open…
The communication and collaboration of Cyber-Physical Systems, including machines and robots, among themselves and with humans, is expected to attract researchers' interest for the years to come. A key element of the new revolution is the…
With the expected adoption of robots able to seamlessly and intuitively interact with people in real-world scenarios, the need arises to provide non-technically-skilled users with easy-to-understand paradigms for customising robot…