Related papers: Information Requirements of Collision-Based Microm…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
In this paper, we consider robotic tasks which require a desirable outcome to be achieved in the physical world that the robot is embedded in and interacting with. Accomplishing this objective requires designing a filter that maintains a…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
We study planning problems faced by robots operating in uncertain environments with incomplete knowledge of state, and actions that are noisy and/or imprecise. This paper identifies a new problem sub-class that models settings in which…
Generating a collision-free robot motion is crucial for safe applications in real-world settings. This requires an accurate model of all obstacle shapes within the constrained robot cell, which is particularly challenging and…
This paper addresses the lower limits of encoding and processing the information acquired through interactions between an internal system (robot algorithms or software) and an external system (robot body and its environment) in terms of…
The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…
A robot making contact with an environment or human presents potential safety risks, including excessive collision force. While experiments on the effect of robot inertia, relative velocity, and interface stiffness on collision are in…
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically…
Assistive mobile robots are a transformative technology that helps persons with disabilities regain the ability to move freely. Although autonomous wheelchairs significantly reduce user effort, they still require human input to allow users…
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where…
Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…
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.…
A robot's dynamics -- especially the degree and location of compliance -- can significantly affect performance and control complexity. Passive dynamics can be designed with good regions of attraction or limit cycles for a specific task, but…
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…