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Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

This paper presents an Expert-guided Mixed-Initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy during task execution initiated by either the human…

Robotic swarm systems are now becoming increasingly attractive for many challenging applications. The main task for any robot is to reach the destination while keeping a safe separation from other robots and obstacles. In many scenarios,…

This study introduces a shared-control approach for collision avoidance in a self-balancing riding ballbot, called PURE, marked by its dynamic stability, omnidirectional movement, and hands-free interface. Integrated with a sensor array and…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

The growing use of mobile robots in sectors such as automotive, agriculture, and rescue operations reflects progress in robotics and autonomy. In unmanned aerial vehicles (UAVs), most research emphasizes visual SLAM, sensor fusion, and path…

There is a large population of wheelchair users. Most of the wheelchair users need help with daily tasks. However, according to recent reports, their needs are not properly satisfied due to the lack of caregivers. Therefore, in this…

The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams. Meanwhile, robots should have the capacity to deal with…

The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…

Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…

Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…

We study real-time collaborative robot (cobot) handling, where the cobot maneuvers a workpiece under human commands. This is useful when it is risky for humans to directly handle the workpiece. However, it is hard to make the cobot both…

Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…

Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction…

Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…

Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…

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…