Related papers: Robopheus: A Virtual-Physical Interactive Mobile R…
Robotic caregivers could potentially improve the quality of life of many who require physical assistance. However, in order to assist individuals who are lying in bed, robots must be capable of dealing with a significant obstacle: the…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
On-demand ride services or ride-sourcing services have been experiencing fast development in the past decade. Various mathematical models and optimization algorithms have been developed to help ride-sourcing platforms design operational…
In this paper, we explore the design and use of conversational telepresence robots to help homebound older adults interact with the external world. An initial needfinding study (N=8) using video vignettes revealed older adults' experiential…
We present a synchronous robotic testbed called SyROF that allows fast implementation of robotic swarms. Our main goal is to lower the entry barriers to cooperative-robot systems for undergraduate and graduate students. The testbed provides…
We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…
This paper presents the results of tests of interactions between real humans and simulated vehicles in a virtual scenario. Human activity is inserted into the virtual world via a virtual reality interface for pedestrians. The autonomous…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
A Mobility Digital Twin is an emerging implementation of digital twin technology in the transportation domain, which creates digital replicas for various physical mobility entities, such as vehicles, drivers, and pedestrians. Although a few…
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…
Vision-language-action models have advanced robotic manipulation but remain constrained by reliance on the large, teleoperation-collected datasets dominated by the static, tabletop scenes. We propose a simulation-first framework to verify…
This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multimodal perception and dual (software and hardware) compliance…
Recent progress in autonomous and semi-autonomous driving has been made possible in part through an assortment of sensors that provide the intelligent agent with an enhanced perception of its surroundings. It has been clear for quite some…
This paper discusses online algorithms for inverse dynamics modelling in robotics. Several model classes including rigid body dynamics (RBD) models, data-driven models and semiparametric models (which are a combination of the previous two…
The evolution and growing automation of collaborative robots introduce more complexity and unpredictability to systems, highlighting the crucial need for robot's adaptability and flexibility to address the increasing complexities of their…
Interactive world models that simulate object dynamics are crucial for robotics, VR, and AR. However, it remains a significant challenge to learn physics-consistent dynamics models from limited real-world video data, especially for…
Nowadays, there are few unmanned aerial vehicles (UAVs) capable of flying, walking and grasping. A drone with all these functionalities can significantly improve its performance in complex tasks such as monitoring and exploring different…
Virtual try-on technology enables users to try various fashion items using augmented reality and provides a convenient online shopping experience. However, most previous works focus on the virtual try-on for clothes while neglecting that…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
Swarm robotics systems have the potential to transform warfighting in urban environments, but until now have not seen large-scale field testing. We present the Rapid Integration Swarming Ecosystem (RISE), a platform for future multi-agent…