Related papers: Open Continuum Robotics -- One Actuation Module to…
Cross-platform robot control remains difficult because hardware interfaces, data formats, and control paradigms vary widely, which fragments toolchains and slows deployment. To address this, we present Control Your Robot, a modular,…
Building general-purpose intelligent robots has long been a fundamental goal of robotics. A promising approach is to mirror the evolutionary trajectory of humans: learning through continuous interaction with the environment, with early…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…
Endovascular robots have been actively developed in both academia and industry. However, progress toward autonomous catheterization is often hampered by the widespread use of closed-source simulators and physical phantoms. Additionally, the…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…
In the domain of assistive robotics, the significance of effective modeling is well acknowledged. Prior research has primarily focused on enhancing model accuracy or involved the collection of extensive, often impractical amounts of data.…
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
This paper presents the concept of an In situ Fabricator, a mobile robot intended for on-site manufacturing, assembly and digital fabrication. We present an overview of a prototype system, its capabilities, and highlight the importance of…
This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner channel and was developed with the ability to perform…
We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…
The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing. Numerous humanoid standard platforms exist in the lower size…
Large policies pretrained on diverse robot datasets have the potential to transform robotic learning: instead of training new policies from scratch, such generalist robot policies may be finetuned with only a little in-domain data, yet…