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To safely navigate unknown environments, robots must accurately perceive dynamic obstacles. Instead of directly measuring the scene depth with a LiDAR sensor, we explore the use of a much cheaper and higher resolution sensor: programmable…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
Programmable Logic Controllers are an integral component for managing many different industrial processes (e.g., smart building management, power generation, water and wastewater management, and traffic control systems), and manufacturing…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…
Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens,…
Programmable Logic Controllers (PLCs) are the core control devices in Industrial Control Systems (ICSs), which control and monitor the underlying physical plants such as power grids. PLCs were initially designed to work in a trusted…
The future of transportation is being shaped by technology, and one revolutionary step in improving road safety is the incorporation of robotic systems into driver monitoring infrastructure. This literature review explores the current…
As Programmable Logic Controller (PLC) became a useful device and rose as an interesting research topic but remained expensive, multiple PLC simulators/emulators were introduced for various purposes. Open-source Programmable Logic…
Machine Learning (ML) models, such as deep neural networks, are widely applied in autonomous systems to perform complex perception tasks. New dependability challenges arise when ML predictions are used in safety-critical applications, like…
Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Robotic platforms are highly programmable, scalable and versatile to complete several tasks including Inspection, Maintenance and Repair (IMR). Mobile robotics offer reduced restrictions in operating environments, resulting in greater…