Related papers: Sensor-Based Control for Collaborative Robots: Fun…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Sensor systems typically operate under resource constraints that prevent the simultaneous use of all resources all of the time. Sensor management becomes relevant when the sensing system has the capability of actively managing these…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
In this paper I describe the design of an introductory course in Human-Robot Interaction. This project-driven course is designed to introduce undergraduate and graduate engineering students, especially those enrolled in Computer Science,…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…
This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
This article describes a new way of controlling robots using soft tactile sensors: pose-based tactile servo (PBTS) control. The basic idea is to embed a tactile perception model for estimating the sensor pose within a servo control loop…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…