Related papers: Enhancing Flexibility and Adaptability in Conjoine…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
While parallel grippers and multi-fingered robotic hands are well developed and commonly used in structured settings, it remains a challenge in robotics to design a highly articulated robotic hand that can be comparable to human hands to…
Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot's inherent body parts or incorporate top-mounted arms for manipulation…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
In this paper, we propose a unified whole-body control framework for velocity-controlled mobile collaborative robots which can distribute task motion into the arm and mobile base according to specific task requirements by adjusting…
Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…
Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however,…
Programming industrial robots is not very intuitive, and the programmer has to be a domain expert for e.g. welding and programming to know how the task is optimally executed. For SMEs such employees are not affordable, nor cost-effective.…
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…