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Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of…
This paper focuses on rotational phenomena of rigid body kinematics. It discusses them in a group-theoretic approach as completely as possible, using methods and notations as intuitive as possible. With a review of current literature, this…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…
For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representation can then be used to inform downstream tasks, such as…
Evolutionary Robotics and Robot Learning are two fields in robotics that aim to automatically optimize robot designs. The key difference between them lies in what is being optimized and the time scale involved. Evolutionary Robotics is a…
As robot make their way out of factories into human environments, outer space, and beyond, they require the skill to manipulate their environment in multifarious, unforeseeable circumstances. With this regard, pushing is an essential motion…
While the exploration for embodied AI has spanned multiple decades, it remains a persistent challenge to endow agents with human-level intelligence, including perception, learning, reasoning, decision-making, control, and generalization…
Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…
Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…
The pre-training of visual representations has enhanced the efficiency of robot learning. Due to the lack of large-scale in-domain robotic datasets, prior works utilize in-the-wild human videos to pre-train robotic visual representation.…
This paper explores the concept of reflexive actuation, examining how robots may leverage both internal and external stimuli to trigger changes in the motion, performance, or physical characteristics of the robot, such as its size, shape,…
Soft robotics is an emerging field of research where the robot body is composed of compliant and soft materials. It allows the body to bend, twist, and deform to move or to adapt its shape to the environment for grasping, all of which are…
The objective of this paper is to distill the following essential idea from the RSS 2016 Workshop on Minimality and Design Automation and the RSS 2017 Workshop on Minimality and Trade-offs in Automated Robot Design: The information…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…