Related papers: Simultaneous Contact and Aerodynamic Force Estimat…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
Most telemanipulation systems for aerial robots provide the operator with only 2D screen visual information. The lack of richer information about the robot's status and environment can limit human awareness and, in turn, task performance.…
Operating drones in urban environments often means they need to land on rooftops, which can have different geometries and surface irregularities. Accurately detecting roof inclination using conventional sensing methods, such as vision-based…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirements on state estimation: the robot must combine state…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…
The article develops an impact-resilient aerial robot (s-ARQ) equipped with a compliant arm to sense contacts and reduce collision impact and featuring a real-time contact force estimator and a non-linear motion controller to handle…
Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…
During locomotion, legged robots interact with the ground by sequentially establishing and breaking contact. The interaction wrenches that arise from contact are used to steer the robot Center of Mass (CoM) and reject perturbations that…
We study a fundamental cooperative message-delivery problem on the plane. Assume $n$ robots which can move in any direction, are placed arbitrarily on the plane. Robots each have their own maximum speed and can communicate with each other…
To better interact with users, a social robot should understand the users' behavior, infer the intention, and respond appropriately. Machine learning is one way of implementing robot intelligence. It provides the ability to automatically…
Accurately estimating risk in real-time is essential for ensuring the safety and efficiency of many applications involving autonomous robot systems. This paper presents a novel, generalizable algorithm for the real-time estimation of risks…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Exploiting robots for activities in human-shared environments, whether warehouses, shopping centres or hospitals, calls for such robots to understand the underlying physical interactions between nearby agents and objects. In particular,…
Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the…