Related papers: Cyber-Secure Teleoperation With Encrypted Four-Cha…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
Teleoperated robotic characters can perform expressive interactions with humans, relying on the operators' experience and social intuition. In this work, we propose to create autonomous interactive robots, by training a model to imitate…
When a human performs a given specific task, it has been known that the central nervous system controls modularized muscle group, which is called muscle synergy. For human-robot interface design problem, therefore, the muscle synergy can be…
The project which we have performed is based on voice recognition and we desire to create a four legged robot that can acknowledge the given instructions which are given through vocal commands and perform the tasks. The main processing unit…
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
This work is the development and analysis of the recently proposed quantum cryptographic protocol, based on the use of the two-mode coherently correlated states. The protocol is supplied with the cryptographic control procedures. The…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…
This paper presents a secure and private implementation of linear time-invariant dynamic controllers using Paillier's encryption, a semi-homomorphic encryption method. To avoid overflow or underflow within the encryption domain, the state…
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
We show that the closed-loop control obtained by feeding back the derivative of the signal from the homodyne measurement of one mode of the light exiting a two-mode optical cavity interacting with a mechanical resonator permits to control…
In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices…
We study the encryption and decryption processes of color images using the synchronization of polarization dynamics in a free-running vertical-cavity surface-emitting laser (VCSEL). Here, we consider a bidirectional master-slave…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
In this paper, a novel protocol is proposed for implementing BQCT by using five-qubit en The proposed protocol depends on the Controlled-NOT operation, proper single-qubit unitary operations and single-qubit measurement in the Z-basis and…