Related papers: Robust and Context-Aware Real-Time Collaborative R…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…
In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
Humanoid whole-body locomotion control is a critical approach for humanoid robots to leverage their inherent advantages. Learning-based control methods derived from retargeted human motion data provide an effective means of addressing this…
In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…
Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…
Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…