Related papers: Design and Validation of a Multi-Arm Relocatable M…
Wearable robots aim to seamlessly adapt to humans and their environment with personalized interactions. Existing supernumerary robotic limbs (SRLs), which enhance the physical capabilities of humans with additional extremities, have thus…
A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot…
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Driven by this motivation, in this work we introduce a legged…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…
We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…
The physically impaired commonly have difficulties performing simple routine tasks without relying on other individuals who are not always readily available and thus make them strive for independence. While their impaired abilities can in…
In-hand manipulation is a crucial ability for reorienting and repositioning objects within grasps. The main challenges in this are not only the complexity of the computational models, but also the risks of grasp instability caused by active…
The use of autonomous robots in space is an essential part of the "New Space" commercial ecosystem of assembly and re-use of space hardware components in Earth orbit and beyond. The STARFAB project aims to create a ground demonstration of…
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must plan and execute concatenated sequences of actions on a…
To enable general-purpose robots, we will require the robot to operate daily articulated objects as humans do. Current robot manipulation has heavily relied on using a parallel gripper, which restricts the robot to a limited set of objects.…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
With advancing technologies, robotic manipulators and visual environment sensors are becoming cheaper and more widespread. However, robot control can be still a limiting factor for better adaptation of these technologies. Robotic…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
Modern manipulators are acclaimed for their precision but often struggle to operate in confined spaces. This limitation has driven the development of hyper-redundant and continuum robots. While these present unique advantages, they face…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…
A robot's ability to complete a task is heavily dependent on its physical design. However, identifying an optimal physical design and its corresponding control policy is inherently challenging. The freedom to choose the number of links,…
Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel MR framework that allows multiple quadruped robots to operate…