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The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…
For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This paper focuses on feedback control for standing and walking…
In this paper we present an open source educational robot, designed both to engage children in an affective and social interaction, and to be programmable also in its social and affective behaviour. Indeed the robot, in addition to classic…
Typically, learned robot controllers are trained via relatively unsystematic regimens and evaluated with coarse-grained outcome measures such as average cumulative reward. The typical approach is useful to compare learning algorithms but…
The growing development of robots with artificial emotional expressiveness raises important questions about their persuasive potential in children's behavior. While research highlights the pragmatic value of emotional expressiveness in…
This work aims to push the limits of agility for bipedal robots by enabling a torque-controlled bipedal robot to perform robust and versatile dynamic jumps in the real world. We present a reinforcement learning framework for training a…
Affective touch offers positive psychological and physiological benefits such as the mitigation of stress and pain. If a robot could realize human-like affective touch, it would open up new application areas, including supporting care work.…
Our goal is to enable robots to perform functional tasks in emotive ways, be it in response to their users' emotional states, or expressive of their confidence levels. Prior work has proposed learning independent cost functions from user…
Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in unstable control. To…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
Recent development in developing humanoid robot poses new challenges to human-machine interaction communication. A major challenge is to develop robots that can behave like and interact with human in the most natural way possible. This…
Text-writing robots have been used in assistive writing and drawing applications. However, robots do not convey emotional tones in the writing process due to the lack of behaviors humans typically adopt. To examine how people interpret…
How should a companion robot behave? In this research, we present a cognitive architecture based on a tailored personality model to investigate the impact of robotic personalities on the perception of companion robots. Drawing from existing…
With the development of the artificial intelligence (AI), the AI applications have influenced and changed people's daily life greatly. Here, a wearable affective robot that integrates the affective robot, social robot, brain wearable, and…
This paper describes a between-subjects Amazon Mechanical Turk study (n = 220) that investigated how a robot's affective narrative influences its ability to elicit empathy in human observers. We first conducted a pilot study to develop and…
In social robotics, endowing humanoid robots with the ability to generate bodily expressions of affect can improve human-robot interaction and collaboration, since humans attribute, and perhaps subconsciously anticipate, such traces to…
This paper presents the design and development of an innovative interactive robotic system to enhance audience engagement using character-like personas. Built upon the foundations of persona-driven dialog agents, this work extends the…
This paper introduces a novel approach to interactive robots by leveraging the form-factor of cards to create thin robots equipped with vibrational capabilities for locomotion and haptic feedback. The system is composed of flat-shaped…