Related papers: Human-centered Control of a Growing Soft Robot for…
Controlling soft robots with precision is a challenge due in large part to the difficulty of constructing models that are amenable to model-based control design techniques. Koopman Operator Theory offers a way to construct explicit linear…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
Soft robotic hands and grippers are increasingly attracting attention as a robotic end-effector. Compared with rigid counterparts, they are safer for human-robot and environment-robot interactions, easier to control, lower cost and weight,…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Aerial manipulation has recently attracted increasing interest from both industry and academia. Previous approaches have demonstrated success in various specific tasks. However, their hardware design and control frameworks are often tightly…
This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…
Humans can teleoperate robots to accomplish complex manipulation tasks. Imitation learning has emerged as a powerful framework that leverages human teleoperated demonstrations to teach robots new skills. However, the performance of the…
With the presence of robots increasing in the society, the need for interacting with robots is becoming necessary. The field of Human-Robot Interaction (HRI) has emerged important since more repetitive and tiresome jobs are being done by…
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and…
This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the receiver. The physical exchange starts when the receiver first…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…
The topic of this final qualification work was chosen due to the importance of developing robotic systems designed to assist people with disabilities. Advances in robotics and automation technologies have opened up new prospects for…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such as construction,…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
Moving large objects, such as furniture or appliances, is a critical capability for robots operating in human environments. This task presents unique challenges, including whole-body coordination to avoid collisions and managing the…