Related papers: URDF+: An Enhanced URDF for Robots with Kinematic …
As robots proliferate in manufacturing, Design for Robotic Assembly (DfRA), which is designing products for efficient automated assembly, is increasingly important. Traditional approaches to DfRA rely on manual planning, which is…
The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for…
How can one analyze detailed 3D biological objects, such as neurons and botanical trees, that exhibit complex geometrical and topological variation? In this paper, we develop a novel mathematical framework for representing, comparing, and…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
Building interactive simulators and scalable robot-learning environments requires a large number of articulated assets. However, most existing 3D assets in simulation are rigid, and manually converting them into articulated objects is…
Robots are experiencing a revolution as they permeate many aspects of our daily lives, from performing house maintenance to infrastructure inspection, from efficiently warehousing goods to autonomous vehicles, and more. This technical…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
Particle robots are novel biologically-inspired robotic systems where locomotion can be achieved collectively and robustly, but not independently. While its control is currently limited to a hand-crafted policy for basic locomotion tasks,…
The ability to communicate with robots using natural language is a significant step forward in human-robot interaction. However, accurately translating verbal commands into physical actions is promising, but still presents challenges.…
To achieve general-purpose utility, we argue that robots must evolve from passive executors into active Information Retrieval users. In strictly zero-shot settings where no prior demonstrations exist, robots face a critical information gap,…
Characterization of the uncertainty in robotic manipulators is the focus of this paper. Based on the random matrix theory (RMT), we propose uncertainty characterization schemes in which the uncertainty is modeled at the macro (system)…
As technology progresses, industrial and scientific robots are increasingly being used in diverse settings. In many cases, however, programming the robot to perform such tasks is technically complex and costly. To maximize the utility of…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Soft robotics is an emerging field of research where the robot body is composed of compliant and soft materials. It allows the body to bend, twist, and deform to move or to adapt its shape to the environment for grasping, all of which are…
Self-adaptive robots adjust their behaviors in response to unpredictable environmental changes. These robots often incorporate deep learning (DL) components into their software to support functionality such as perception, decision-making,…
Robot animation is a new form of character animation that extends the traditional process by allowing the animated motion to become more interactive and adaptable during interaction with users in real-world settings. This paper reviews how…
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…
Robots are often so complex that one person may not know all the ins and outs of the system. Inheriting software and hardware infrastructure with limited documentation and/or practical robot experience presents a costly challenge for an…
The aim of this work is to address issues where formal specifications cannot be realized on a given dynamical system subjected to a changing environment. Such failures occur whenever the dynamics of the system restrict the robot in such a…
Robots state of insecurity is onstage. There is an emerging concern about major robot vulnerabilities and their adverse consequences. However, there is still a considerable gap between robotics and cybersecurity domains. For the purpose of…