Related papers: Codesign of Humanoid Robots for Ergonomy Collabora…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans…
Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
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…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…
Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
The performance of industrial robotic work cells depends on optimizing various hyperparameters referring to the cell layout, such as robot base placement, tool placement, and kinematic design. Achieving this requires a bilevel optimization…
Recent works explore collaboration between humans and teams of robots. These approaches make sense if the human is already working with the robot team; but how should robots encourage nearby humans to join their teams in the first place?…
Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…
We study the effects of injecting human-generated designs into the initial population of an evolutionary robotics experiment, where subsequent population of robots are optimised via a Genetic Algorithm and MAP-Elites. First, human…
This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk3 model, a Design of Experiments (DoE) approach is used to…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…