Related papers: A Suitable Hierarchical Framework with Arbitrary T…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors are considered. To address this issue, we introduce a new…
World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural-language prediction, which are difficult to ground in…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…
Conventional formation methods typically rely on fixed hierarchical structures, such as predetermined leaders or predefined formation shapes. These rigid hierarchies can render formations cumbersome and inflexible in complex environments,…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
Wheeled-legged robots hold promise for traversing complex terrains and offer superior mobility compared to legged robots. However, wheeled-legged robots must effectively balance both wheeled driving and legged control. Furthermore, due to…
Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…
Modular robotics holds immense potential for space exploration, where reliability, repairability, and reusability are critical for cost-effective missions. Coordination between heterogeneous units is paramount for precision tasks -- whether…
The increasing transition of human-robot interaction (HRI) context from controlled settings to dynamic, real-world public environments calls for enhanced adaptability in robotic systems. This can go beyond algorithmic navigation or…
Existing approaches to coalition formation often assume that requirements associated with tasks are precisely specified by the human operator. However, prior work has demonstrated that humans, while extremely adept at solving complex…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
In this paper, we introduce a novel conceptual model for a robot's behavioral adaptation in its long-term interaction with humans, integrating dynamic robot role adaptation with principles of flow experience from psychology. This…