Related papers: A General Control Method for Human-Robot Integrati…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Rehabilitation training for patients with motor disabilities usually requires specialized devices in rehabilitation centers. Home-based multi-purpose training would significantly increase treatment accessibility and reduce medical costs.…
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…
In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
Patients suffering from quadriplegia have limited body motion which prevents them from performing daily activities. We have developed an assistive robotic system with an intuitive free-view gaze interface. The user's point of regard is…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Humanoids are versatile robotic platforms owing to their limbs with multiple degrees of freedom. Although humanoids can walk like humans, they are relatively slow, and cannot run over large barriers. To address these limitations, we aim to…
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…
People with lower and upper body disabilities can benefit from wheelchairs and robotic arms to improve mobility and independence. Prior assistive interfaces, such as touchscreens and voice-driven predefined commands, often remain…
Constrained environments are common in practical applications of manipulating deformable linear objects (DLOs), where movements of both DLOs and robots should be constrained. This task is high-dimensional and highly constrained owing to the…
Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, which limits their versatility. In this work, we present…
Semi-autonomous prosthesis controllers based on computer vision improve performance while reducing cognitive effort. However, controllers relying on full-depth data face challenges in being deployed as embedded prosthesis controllers due to…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…