Related papers: ERUPT: An Open Toolkit for Interfacing with Robot …
The ability to jointly understand the geometry of objects and plan actions for manipulating them is crucial for intelligent agents. We refer to this ability as geometric planning. Recently, many interactive environments have been proposed…
Hybrid mixed-reality (XR) internet-of-things (IoT) research, here called XRI, aims at a strong integration between physical and virtual objects, environments, and agents wherein IoT-enabled edge devices are deployed for sensing, context…
As technology advances, the integration of physical, virtual, and social worlds has led to a complex landscape of ``Realities'' such as Virtual Reality (VR), Augmented Reality (AR), metaverse, spatial computing, and other emerging…
Sampling-based motion planners such as Rapidly-exploring Random Tree* (RRT*) and its informed variant IRRT* are widely used for optimal path planning in complex environments. However, these methods often suffer from slow convergence and…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
With the widespread adoption of Extended Reality (XR) headsets, spatial computing technologies are gaining increasing attention. Spatial computing enables interaction with virtual elements through natural input methods such as eye tracking,…
I-nteract is a cyber-physical system that enables real-time interaction with both virtual and real artifacts to design 3D models for additive manufacturing by leveraging on mixed reality technologies. This paper presents novel advances in…
Planning the motion path for a tightly coupled dual-arm space manipulator under closed-chain constraints is a fundamental yet challenging problem in on-orbit assembly of large-scale space structures. The closed-chain constraints…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…
A new approach to the human-robot shared control of the Extra Robotic Legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the entirety of its backpack payload, as well as some of the…
Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…
To facilitate high quality interaction during the regular use of computing systems, it is essential that the user interface (UI) deliver content and components in an appropriate manner. Although extended reality (XR) is emerging as a new…
Supernumerary Robotic Limbs (SRLs) can enhance human capability within close proximity. However, as a wearable device, the generated moment from its operation acts on the human body as an external torque. When the moments increase, more…
On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…