Related papers: Optimization of Humanoid Robot Designs for Human-R…
Safety concerns have risen as robots become more integrated into our daily lives and continue to interact closely with humans. One of the most crucial safety priorities is preventing collisions between robots and people walking nearby.…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
Human factors research has long focused on optimizing environments, tools, and systems to account for human performance. Yet, as humanoid robots begin to share our workplaces, homes, and public spaces, the design challenge expands. We must…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
Utilizing orthoses and exoskeleton technology in various applications and medical industries, particularly to help elderly and ordinary people in their daily activities is a new growing field for research institutes. In this paper, after…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
Robots come in various forms and have different characteristics that may shape the interaction with them. In human-human interactions, height is a characteristic that shapes human dynamics, with taller people typically perceived as more…
Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The interaction implies communication between two dyadic agents and, if the type…
We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…