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Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this…
Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…
In this paper we present a study of a specific class of vibration-driven robots: the brushbots. In a bottom-up fashion, we start by deriving dynamic models of the brushes and we discuss the conditions under which these models can be…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
Birds in nature perform perching not only for rest but also for interaction with human such as the relationship with falconers. Recently, researchers achieve perching-capable aerial robots as a way to save energy, and deformable structure…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
Robotic automation is a key technology that increases the efficiency and flexibility of manufacturing processes. However, one of the challenges in deploying robots in novel environments is finding the optimal base pose for the robot, which…
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Integrating Large Language Models (VLMs) and Vision-Language Models (VLMs) with robotic systems enables robots to process and understand complex natural language instructions and visual information. However, a fundamental challenge remains:…
In this paper, we focus on motion estimation dedicated for non-holonomic ground robots, by probabilistically fusing measurements from the wheel odometer and exteroceptive sensors. For ground robots, the wheel odometer is widely used in pose…
Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for…
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estimate relative states. The estimation can be based on…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…