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Social robots are expected to be a human labor support technology, and one application of them is an advertising medium in public spaces. When social robots provide information, such as recommended shops, adaptive communication according to…
Aerial robots are evolving from avoiding obstacles to exploiting the environmental contact interactions for navigation, exploration and manipulation. A key challenge in such aerial physical interactions lies in handling uncertain contact…
With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…
Many manipulation tasks require the robot to control the contact between a grasped compliant tool and the environment, e.g. scraping a frying pan with a spatula. However, modeling tool-environment interaction is difficult, especially when…
Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…
Research on untethered micro-swimming robots is growing fast owing to their potential impact on minimally invasive medical procedures. Candidate propulsion mechanisms of robots are based on flagellar mechanisms of microorganisms such as…
Many applications require robots to move through complex 3-D terrain with large obstacles, such as self-driving, search and rescue, and extraterrestrial exploration. Although robots are already excellent at avoiding sparse obstacles, they…
Aerial operation in turbulent environments is a challenging problem due to the chaotic behavior of the flow. This problem is made even more complex when a team of aerial robots is trying to achieve coordinated motion in turbulent wind…
The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…
We consider the problem of a robot learning the mechanical properties of objects through physical interaction with the object, and introduce a practical, data-efficient approach for identifying the motion models of these objects. The…
The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…
Force Sensing and Force Control are essential to many industrial applications. Typically, a 6-axis Force/Torque (F/T) sensor is mounted between the robot's wrist and the end-effector in order to measure the forces and torques exerted by the…