Related papers: Object-Aware Impedance Control for Human-Robot Col…
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization…
Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…
As the availability of cobots increases, it is essential to address the needs of users with little to no programming knowledge to operate such systems efficiently. Programming concepts often use intuitive interaction modalities, such as…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stability of such robots in physical human-robot-environment…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…
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…
Human interaction is essential for issuing personalized instructions and assisting robots when failure is likely. However, robots remain largely black boxes, offering users little insight into their evolving capabilities and limitations. To…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…
The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
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…
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…