Related papers: SERA: Safe and Efficient Reactive Obstacle Avoidan…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a connected kinodynamic chain, which can be viewed as a special class of floating-base…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
In this paper, we present an approach for learning collision-free robot trajectories in the presence of moving obstacles. As a first step, we train a backup policy to generate evasive movements from arbitrary initial robot states using…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
Obstacle avoidance enables autonomous agents and robots to operate safely and efficiently in dynamic and complex environments, reducing the risk of collisions and damage. For a robot or autonomous system to successfully navigate through…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly…
Proactive collision avoidance measures are imperative in environments where humans and robots coexist. Moreover, the introduction of high quality legged robots into workplaces highlighted the crucial role of a robust, fully autonomous…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
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…
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…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
This work compares three interaction modalities for human-robot collaboration: passive, reactive, and proactive. We studied 18 participants assembling a seven-layer colored tower from memory while using nearby and distant blocks. In the…