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Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…
Deep reinforcement learning has emerged as a popular and powerful way to develop locomotion controllers for quadruped robots. Common approaches have largely focused on learning actions directly in joint space, or learning to modify and…
Inertial measurement units have the ability to accurately record the acceleration and angular velocity of human limb segments during discrete joint movements. These movements are commonly used in exercise rehabilitation programmes following…
A single mobile service robot may generate hundreds of encounters with pedestrians, yet there is little published data on the factors influencing these incidental human-robot encounters. We report the results of a between-subjects…
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements are used for load identification, contact detection, and…
Modeling of non-rigid object launching and manipulation is complex considering the wide range of dynamics affecting trajectory, many of which may be unknown. Using physics models can be inaccurate because they cannot account for unknown…
Identifying the dynamic properties of manipulated objects is essential for safe and accurate robot control. Most methods rely on low noise force torque sensors, long exciting signals, and solving nonlinear optimization problems, making the…
The ability to accomplish manipulation and locomotion tasks in the presence of significant time-varying external loads is a remarkable skill of humans that has yet to be replicated convincingly by humanoid robots. Such an ability will be a…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it…
In nature, legged animals have developed the ability to adapt to challenging terrains through perception, allowing them to plan safe body and foot trajectories in advance, which leads to safe and energy-efficient locomotion. Inspired by…
Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2)…
Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Recent research in pedestrian simulation often aims to develop realistic behaviors in various situations, but it is challenging for existing algorithms to generate behaviors that identify weaknesses in automated vehicles' performance in…