Related papers: Soft Gripping: Specifying for Trustworthiness
Leveraging human grasping skills to teach a robot to perform a manipulation task is appealing, but there are several limitations to this approach: time-inefficient data capture procedures, limited generalization of the data to other grasps…
Grasp synthesis for 3D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful -- humans are, for example, able to exploit deformations to generate…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
As robots find their way into more and more aspects of everyday life, questions around trust are becoming increasingly important. What does it mean to trust a robot? And how should we think about trust in relationships that involve both…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…
Robots are increasingly deployed across diverse domains and designed for multi-purpose operation. As robotic systems grow in complexity and operate in dynamic environments, the need for structured, expressive, and scalable…
The use of embedded software is advancing in modern medical devices, so does its capabilities and complexity. This paradigm shift brings many challenges such as an increased rate of medical device failures due to software faults. In this…
Fair classification has been a topic of intense study in machine learning, and several algorithms have been proposed towards this important task. However, in a recent study, Friedler et al. observed that fair classification algorithms may…
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…
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation…
This vision paper presents initial research on assessing the robustness and reliability of AI-enabled systems, and key factors in ensuring their safety and effectiveness in practical applications, including a focus on accountability. By…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…
Trusting machine learning algorithms requires having confidence in their outputs. Confidence is typically interpreted in terms of model reliability, where a model is reliable if it produces a high proportion of correct outputs. However,…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
Endowing robots with the capability of assessing risk and making risk-aware decisions is widely considered a key step toward ensuring safety for robots operating under uncertainty. But, how should a robot quantify risk? A natural and common…
Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial…
The Industry 5.0 transition highlights EU efforts to design intelligent devices that can work alongside humans to enhance human capabilities, and such vision aligns with user preferences and needs to feel safe while collaborating with such…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…