Related papers: Learning to Assist Different Wearers in Multitasks…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
Spasticity is a common movement disorder symptom in individuals with cerebral palsy, hereditary spastic paraplegia, spinal cord injury and stroke, being one of the most disabling features in the progression of these diseases. Despite the…
This early-stage research work aims to improve online human-robot imitation by translating sequences of joint positions from the domain of human motions to a domain of motions achievable by a given robot, thus constrained by its embodiment.…
It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…
Exoskeletons for rehabilitation can help enhance motor recovery in individuals suffering from neurological disorders. Precision in movement execution, especially in arm rehabilitation, is crucial to prevent maladaptive plasticity. However,…
Current approaches to humanoid control generally fall into two paradigms: perceptive locomotion, which handles terrain well but is limited to pedal gaits, and general motion tracking, which reproduces complex skills but ignores…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body…
The most concentrated application of lower-limb rehabilitation exoskeleton (LLE) robot is that it can help paraplegics "re-walk". However, "walking" in daily life is more than just walking on flat ground with fixed gait. This paper focuses…
Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we…
We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…
Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…
Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a perception system that is effective in changing environments. In…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
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…
Recently, the lower limb exoskeletons which providemobility for paraplegic patients to support their daily life havedrawn much attention. However, the pilots are required to applyexcessive force through a pair of crutches to maintain…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Recently, end-to-end learning frameworks are gaining prevalence in the field of robot control. These frameworks input states/images and directly predict the torques or the action parameters. However, these approaches are often critiqued due…
By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal disorders (WMSDs). In this context, existing offline…