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Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…
We explore how to enhance next-token prediction models to perform in-context imitation learning on a real robot, where the robot executes new tasks by interpreting contextual information provided during the input phase, without updating its…
Efficiently finding safe and feasible trajectories for mobile objects is a critical field in robotics and computer science. In this paper, we propose SIL-RRT*, a novel learning-based motion planning algorithm that extends the RRT* algorithm…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe,…
This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
This paper presents an attempt to replicate the robot imitation work conducted by Sermanet et al., with a specific focus on the experiments involving robot joint position prediction. While the original study utilized human poses to predict…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
We present Success weighted by Completion Time (SCT), a new metric for evaluating navigation performance for mobile robots. Several related works on navigation have used Success weighted by Path Length (SPL) as the primary method of…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
This paper analyses the dynamic response of a robot when subject to an external force that is applied to its Center of Mass (CoM). The Ratio of Transmission of Motion (RoToM) is proposed as a novel indicator of what part of the applied…
Robot motions in the presence of humans should not only be feasible and safe, but also conform to human preferences. This, however, requires user feedback on the robot's behavior. In this work, we propose a novel approach to leverage the…
Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…