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We propose U-Arm, a low-cost and rapidly adaptable leader-follower teleoperation framework designed to interface with most of commercially available robotic arms. Our system supports teleoperation through three structurally distinct…
Open-source EDA tools are rapidly advancing, fostering collaboration, innovation, and knowledge sharing within the EDA community. However, the growing complexity of these tools, characterized by numerous design parameters and heuristics,…
The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…
The CODECO Experimentation Framework is an open-source solution designed for the rapid experimentation of Kubernetes-based edge cloud deployments. It adopts a microservice-based architecture and introduces innovative abstractions for (i)…
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and control paradigms that have characterized surgical…
The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lower size ranges of up to 60cm, but larger humanoid robots…
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation. We introduce OSMO, an open-source wearable tactile glove…
We present ECHO, an edge--cloud framework for language-driven whole-body control of humanoid robots. A cloud-hosted diffusion-based text-to-motion generator synthesizes motion references from natural language instructions, while an…
Manual endoscopic submucosal dissection (ESD) is technically demanding, and existing single-segment robotic tools offer limited dexterity. These limitations motivate the development of more advanced solutions. To address this, DESectBot, a…
This paper introduces the Omnidirectional Tractable Three Module Robot for traversing inside complex pipe networks. The robot consists of three omnidirectional modules fixed 120{\deg} apart circumferentially which can rotate about their…
Physicians perform minimally invasive percutaneous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these procedures performed within Computed Tomography Scanners,…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud…
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF…
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…
High-DOF dexterous hands require compact actuation, rich sensing, and reliable thermal behavior, but conventional designs often occupy valuable in-hand space, increase end-effector mass, and suffer from heat accumulation near the hand.…
As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
In optical experiments, shutters are devices that open or close a path of light. They are often used to limit the duration of light exposure onto a target or onto a detector in order to reduce possible light-induced damage. Many commercial…
Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…