Related papers: Open-Source Software Architecture for Multi-Robot …
Implementing new features across an entire codebase presents a formidable challenge for Large Language Models (LLMs). This proactive task requires a deep understanding of the global system architecture to prevent unintended disruptions to…
Computer-aided design (CAD) is the digital construction of 2D and 3D objects, and is central to a wide range of engineering and manufacturing applications like automobile and aviation. Despite its importance, CAD modeling remains largely a…
Architectural design practice has radically evolved over the course of its history, due to technological improvements that gave rise to advanced automated tools for many design tasks. Traditional paper drawings and scale models are now…
Tomographic Volumetric Additive Manufacturing (TVAM) allows printing of mesoscopic objects within seconds or minutes. Tomographic patterns are illuminated onto a rotating glass vial which contains a photosensitive resin. Current pattern…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different interaction modalities. We present an…
We envision an integrated process for developing lunar construction equipment, where physical design and control are explored in parallel. In this paper, we describe a technical framework that supports this process. It relies on OpenPLX, a…
Advances in 3D generative AI have enabled the creation of physical objects from text prompts, but challenges remain in creating objects involving multiple component types. We present a pipeline that integrates 3D generative AI with…
The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
With the feature of multi-master bus access, nondestructive contention-based arbitration and flexible configuration, Controller Area Network (CAN) bus is applied into the control system of Wire Harness Assembly Machine (WHAM). To accomplish…
Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations.…
The Whole-Body Locomotion Framework (WoLF) is an end-to-end software suite devoted to the loco-manipulation of quadruped robots. WoLF abstracts the complexity of planning and control of quadrupedal robot hardware into a simple to use and…
Impedance-controlled robots are widely used on Earth to perform interaction-rich tasks and will be a key enabler for In-Space Servicing, Assembly and Manufacturing (ISAM) activities. This paper introduces the software architecture used on…
OpenCAL is a low cost CAL based printing and post processing platform developed using commercial off the shelf (COTS) components and standard rapid prototyping tools. The system incorporates recent advancements in VAM, including Optical…
This paper presents an experimental adaptation of a non-collaborative robot arm to collaborate with the environment, as one step towards adapting legacy robotic machinery to fit in industry 4.0 requirements. A cloud-based internet of things…
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…
Autoregressive (AR) models have achieved remarkable success in natural language and image generation, but their application to 3D shape modeling remains largely unexplored. Unlike diffusion models, AR models enable more efficient and…
In optical WDM networks, transmission of information along optical lines is advantageous since it has high transmission capacity, scalability, feasibility and also high reliability. But large amount of information is being carried; any…
This article presents an open-source architecture for conveying robots' intentions to human teammates using Mixed Reality and Head-Mounted Displays. The architecture has been developed focusing on its modularity and re-usability aspects.…