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Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range…
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…
Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…
In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque…
Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number of…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…
Based on the Maxwell-Beatty reciprocity theorem, static non-reciprocity has been realized by using nonlinearity, but this non-reciprocity has strict restrictions on input amplitude and structure size (number of units). Here, we propose a…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…