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Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prioritize immediate safe foot placement over longer term dynamic…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can…
Locomotion is a prime example for adaptive behavior in animals and biological control principles have inspired control architectures for legged robots. While machine learning has been successfully applied to many tasks in recent years, Deep…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration is made based on the minimum number of steps and maximum use…
This paper presents a hybrid robot cognitive architecture, CRAM, that enables robot agents to accomplish everyday manipulation tasks. It addresses five key challenges that arise when carrying out everyday activities. These include (i) the…
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles…
Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environments efficiently and accurately. To push this boundary, we…
We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated before use. Using computer aided design (CAD), a robot skin…
A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid…
This paper presents a combined task and motion planner for a robot arm to carry out 3D metal wire curving tasks by collaborating with a bending machine. We assume a collaborative robot that is safe to work in a human environment but has a…