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Most uncertainty-aware robotic systems collapse prediction uncertainty into a single scalar score and use it to trigger uniform corrective responses. This aggregation obscures whether uncertainty arises from corrupted observations or from…
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well as camera calibration create errors in this coordinate frame…
Current robotic manipulation requires reliable methods to predict whether a certain grasp on an object will be successful or not prior to its execution. Different methods and metrics have been developed for this purpose but there is still…
In order to solve the problem of stable jumping of micro robot, we design a special mechanism: elastic passive joint (EPJ). EPJ can assist in achieving smooth jumping through the opening-closing process when the robot jumps. First, we…
Humans use collaborative robots as tools for accomplishing various tasks. The interaction between humans and robots happens in tight shared workspaces. However, these machines must be safe to operate alongside humans to minimize the risk of…
Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of collecting robot-centric data, especially for tasks requiring…
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
Recognising intent in collaborative human robot tasks can improve team performance and human perception of robots. Intent can differ from the observed outcome in the presence of mistakes which are likely in physically dynamic tasks. We…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
Human-robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in unstructured and…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
This paper is concerned with the optimal kinematic control of a robot manipulator where the robot end effector position follows a task space trajectory. The joints are actuated with the desired velocity profile to achieve this task. This…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
Adaptation to external and internal changes is major for robotic systems in uncertain environments. Here we present a novel multisensory active inference torque controller for industrial arms that shows how prediction can be used to resolve…
Predicting the motion of dynamic agents is a critical task for guaranteeing the safety of autonomous systems. A particular challenge is that motion prediction algorithms should obey dynamics constraints and quantify prediction uncertainty…
Accurate human motion prediction (HMP) is critical for seamless human-robot collaboration, particularly in handover tasks that require real-time adaptability. Despite the high accuracy of state-of-the-art models, their computational…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…