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In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
State-of-the-art congestion control algorithms for data centers alone do not cope well with transient congestion and high traffic bursts. To help with these, we revisit the concept of direct \emph{backward} feedback from switches and…
Human-Lead Cooperative Adaptive Cruise Control (HL-CACC) is regarded as a promising vehicle platooning technology in real-world implementation. By utilizing a Human-driven Vehicle (HV) as the platoon leader, HL-CACC reduces the cost and…
Reinforcement learning has shown great promise for synthesizing realistic human behaviors by learning humanoid control policies from motion capture data. However, it is still very challenging to reproduce sophisticated human skills like…
Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes time-varying control barrier functions (time varying CBFs)…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…
Contact-rich micromanipulation in microfluidic flow is challenging because small disturbances can break pushing contact and induce large lateral drift. We study planar cell pushing with a magnetic rolling microrobot that tracks a…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
Recent advances in spatially selective active noise control (SSANC) using multiple microphones have enabled hearables to suppress undesired noise while preserving desired speech from a specific direction. Aiming to achieve minimal speech…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
Robotic systems are increasingly employed for industrial automation, with contact-rich tasks like polishing requiring dexterity and compliant behaviour. These tasks are difficult to model, making classical control challenging. Deep…
Human-robot collaboration including close physical human-robot interaction (pHRI) is a current trend in industry and also science. The safety guidelines prescribe two modes of safety: (i) power and force limitation and (ii) speed and…
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However,…
Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies to assist workers in repetitive physical tasks and deal with…
Spatially selective active noise control (SSANC) hearables aim to attenuate noise from certain directions at the eardrum while preserving desired speech arriving from selected directions. Existing SSANC systems typically assume an accurate…
This paper presents a novel safe control framework that integrates Sliding Mode Control (SMC), High-Order Control Barrier Functions (HOCBFs) with state-dependent adaptiveness and a lightweight projection for collision-free navigation of an…
This paper presents a new data-driven framework for analyzing periodic physical human-robot interaction (pHRI) in latent state space. To elaborate human understanding and/or robot control during pHRI, the model representing pHRI is…
The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…