Related papers: On Motion Control and Machine Learning for Robotic…

Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…

Industrial robots play an increasingly important role in a growing number of fields. For example, robotics is used to increase productivity while reducing costs in various aspects of manufacturing. Since robots are often set up in…

We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…

In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…

Due to recent advances - compute, data, models - the role of learning in autonomous systems has expanded significantly, rendering new applications possible for the first time. While some of the most significant benefits are obtained in the…

Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to…

The number of mobile robots with constrained computing resources that need to execute complex machine learning models has been increasing during the past decade. Commonly, these robots rely on edge infrastructure accessible over wireless…

This paper discusses the problem of assembly line control and introduces an optimal control formulation that can be used to improve the performance of the assembly line, in terms of cycle time minimization, resources' utilization, etc. A…

The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…

The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…

Machine learning has long since become a keystone technology, accelerating science and applications in a broad range of domains. Consequently, the notion of applying learning methods to a particular problem set has become an established and…

Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…

The Edge computing paradigm has gained prominence in both academic and industry circles in recent years. By implementing edge computing facilities and services in robotics, it becomes a key enabler in the deployment of artificial…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

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…

Robots have been successfully deployed in both traditional and novel manufacturing processes. However, they are still difficult to program by non-experts, which limits their accessibility to a wider range of potential users. Programming…