Related papers: Programming of Skill-based Robots
Robotic systems are complex and safety-critical software systems. As such, they need to be tested thoroughly. Unfortunately, robot software is intrinsically hard to test compared to traditional software, mainly since the software needs to…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
In contrast to humans and animals who naturally execute seamless motions, learning and smoothly executing sequences of actions remains a challenge in robotics. This paper introduces a novel skill-agnostic framework that learns to sequence…
The future of work does not require a choice between human and robot. Aside from explicit human-robot collaboration, robotics can play an increasingly important role in helping train workers as well as the tools they may use, especially in…
Smart factories are on the verge of becoming the new industrial paradigm, wherein optimization permeates all aspects of production, from concept generation to sales. To fully pursue this paradigm, flexibility in the production means as well…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
Robots are becoming more and more commonplace in many industry settings. This successful adoption can be partly attributed to (1) their increasingly affordable cost and (2) the possibility of developing intelligent, software-driven robots.…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
One of the goals of software design is to model a system in such a way that it is easily understandable. Nowadays the tendency for software development is changing from manual coding to automatic code generation; it is becoming model-based.…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
With the proliferation of AI-enabled software systems in smart manufacturing, the role of such systems moves away from a reactive to a proactive role that provides context-specific support to manufacturing operators. In the frame of the EU…
The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…
Zero-shot generalization across various robots, tasks and environments remains a significant challenge in robotic manipulation. Policy code generation methods use executable code to connect high-level task descriptions and low-level action…
Industrial robots are widely used in manufacturing, yet most manipulation still depends on fixed waypoint scripts that are brittle to environmental changes. Learning-based control offers a more adaptive alternative, but it remains unclear…
One of the more prominent trends within Industry 4.0 is the drive to employ Robotic Process Automation (RPA), especially as one of the elements of the Lean approach. The full implementation of RPA is riddled with challenges relating both to…
Automated industries lead to high quality production, lower manufacturing cost and better utilization of human resources. Robotic manipulator arms have major role in the automation process. However, for complex manipulation tasks, hard…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
This work provides a complete framework for the simulation, co-optimization, and sim-to-real transfer of the design and control of soft legged robots. The compliance of soft robots provides a form of "mechanical intelligence" -- the ability…