Related papers: Holistic Construction Automation with Modular Robo…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
Multi-robot systems are emerging as a promising solution to the growing demand for productivity, safety, and adaptability across industrial sectors. However, effectively coordinating multiple robots in dynamic and uncertain environments,…
Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human operator. This restricts the deployment scale and requires…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…
Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…
In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…
The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills,…
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
Industrial robots are increasingly deployed in applications requiring an end effector tool to closely track a specified path, such as in spraying and welding. Performance and productivity present possibly conflicting objectives: tracking…
The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…
As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…
In this paper we will explore different available methodologies to automatically design controllers for tasks that spans many level of abstraction, where the gap between primitive behaviours and the task definition is high. A good…
The quasi-repetitive nature of construction work and the resulting lack of generalizability in programming construction robots presents persistent challenges to the broad adoption of robots in the construction industry. Robots cannot…
In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…