Related papers: Towards Connecting Control to Perception: High-Per…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…
Perception, Planning, and Control form the essential components of autonomy in advanced air mobility. This work advances the holistic integration of these components to enhance the performance and robustness of the complete cyber-physical…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
This paper presents the results of tests of interactions between real humans and simulated vehicles in a virtual scenario. Human activity is inserted into the virtual world via a virtual reality interface for pedestrians. The autonomous…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Digital Twin, as an emerging technology related to Cyber-Physical Systems (CPS) and Internet of Things (IoT), has attracted increasing attentions during the past decade. Conceptually, a Digital Twin is a digital replica of a physical entity…
Humanoid robots have significant gaps in their sensing and perception, making it hard to perform motion planning in dense environments. To address this, we introduce ARMOR, a novel egocentric perception system that integrates both hardware…
The collaboration between humans and robots re-quires a paradigm shift not only in robot perception, reasoning, and action, but also in the design of the robotic cell. This paper proposes an optimization framework for designing…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still require active control to achieve reliable collision avoidance.…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
The environmental perception of an autonomous vehicle is limited by its physical sensor ranges and algorithmic performance, as well as by occlusions that degrade its understanding of an ongoing traffic situation. This not only poses a…
Self-adaptation approaches usually rely on closed-loop controllers that avoid human intervention from adaptation. While such fully automated approaches have proven successful in many application domains, there are situations where human…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…