Related papers: Symmetry-Aware Robot Design with Structured Subgro…
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…
The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in…
Participatory Design (PD) methods are effective in understanding older adults' perspectives, concerns, and wishes and generating ideas for new intelligent aids. The aim of our study was first to map perceptions and explore the needs of…
The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished…
Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an internal shape space has provided deep insights into the…
We consider a swarm of autonomous mobile robots each of which is an anonymous point in the three-dimensional Euclidean space (3D-space) and synchronously executes a common distributed algorithm. We investigate the pattern formation problem…
The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loop collection paradigms. To break this…
Research in multi-robot and swarm systems has seen significant interest in cooperation of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to…
Large demand for robotics and automation has been reflected in the sanding works, as current manual operations are labor-intensive, without consistent quality, and also subject to safety and health issues. While several machines have been…
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently observed in animal biology and robotics, which stem from the…
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such…
Socially Assistive Robots (SARs) are becoming very popular every day because of their effectiveness in handling social situations. However, social robots are perceived as intelligent, and thus their decision-making process might have a…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
Industrial surface defect detection (SDD) is critical for ensuring product quality and manufacturing reliability. Due to the diverse shapes and sizes of surface defects, SDD faces two main challenges: intraclass difference and interclass…
We consider path planning for a rigid spatial robot with 6 degrees of freedom (6 DOFs), moving amidst polyhedral obstacles. A correct, complete and practical path planner for such a robot has never been achieved, although this is widely…
Recent advances have shown that symmetry, a structural prior that most objects exhibit, can support a variety of single-view 3D understanding tasks. However, detecting 3D symmetry from an image remains a challenging task. Previous works…
Many objects, especially these made by humans, are symmetric, e.g. cars and aeroplanes. This paper addresses the estimation of 3D structures of symmetric objects from multiple images of the same object category, e.g. different cars, seen…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…
This paper presents a deterministic algorithm for forming a given asymmetric pattern in finite time by a set of autonomous, homogeneous, oblivious mobile robots under the CORDA model. The robots are represented as points on the 2D plane.…