Related papers: Understanding Xacro Misunderstandings
The Robot Operating System (ROS) is a popular framework and ecosystem that allows developers to build robot software systems from reusable, off-the-shelf components. Systems are often built by customizing and connecting components via…
With the increasing complexity of robot systems, it is necessary to simulate them before deployment. To do this, a model of the robot's kinematics or dynamics is required. One of the most commonly used formats for modeling robots is the…
Designs incorporating kinematic loops are becoming increasingly prevalent in the robotics community. Despite the existence of dynamics algorithms to deal with the effects of such loops, many modern simulators rely on dynamics libraries that…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
Robots are typically described in software by specification files (e.g., URDF, SDF, MJCF, USD) that encode only basic kinematic, dynamic, and geometric information. As a result, downstream applications such as simulation, planning, and…
As the complexity of robot systems increases, it becomes more effective to simulate them before deployment. To do this, a model of the robot's kinematics or dynamics is required, and the most commonly used format is the Unified Robot…
This paper describes an integrated solution to the problem of describing and interpreting goals for robots in open uncertain domains. Given a formal specification of a desired situation, in which objects are described only by their…
Understanding student difficulties in programming is a complex challenge due to the wide range of topics and the abundant varieties of misconceptions and errors. This paper presents the design and development of a fine-grained taxonomy that…
Algorithms often appear as 'black boxes' to non-expert users. While prior work focuses on explainable representations and expert-oriented exploration, we propose and study an interactive approach using question answering to explain…
As robotic systems become increasingly complex, the need for explainable decision-making becomes critical. Existing explainability approaches in robotics typically either focus on individual modules, which can be difficult to query from the…
Building trust between humans and robots has long interested the robotics community. Various studies have aimed to clarify the factors that influence the development of user trust. In Human-Robot Interaction (HRI) environments, a critical…
Despite great advances in what robots can do, they still experience failures in human-robot collaborative tasks due to high randomness in unstructured human environments. Moreover, a human's unfamiliarity with a robot and its abilities can…
Effective verbal communication is crucial in human-robot collaboration. When a robot helps its human partner to complete a task with verbal instructions, referring expressions are commonly employed during the interaction. Despite many…
Robots can greatly enhance human capabilities, yet their development presents a range of challenges. This collaborative study, conducted by a team of software engineering and robotics researchers, seeks to identify the challenges…
As robot systems become more ubiquitous, developing understandable robot systems becomes increasingly important in order to build trust. In this paper, we present an approach to developing a holistic robot explanation system, which consists…
In this paper, we explore the usability of a custom eXtensible Robotic Language (XRL) we proposed. To evaluate the user experience and the interaction with the potential XRL-based software robot, we conducted an exploratory study comparing…
Fatal accidents are a major issue hindering the wide acceptance of safety-critical systems using machine-learning and deep-learning models, such as automated-driving vehicles. Quality assurance frameworks are required for such machine…
Integrating robot systems into manufacturing lines is a time-consuming process. In the era of digitalization, the research and development of new technologies is crucial for improving integration processes. Numerous challenges, including…
The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…
The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past…