Related papers: Cooperative Task Spaces for Multi-Arm Manipulation…

Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…

Worker-Robot Cooperation is a new industrial trend, which aims to sum the advantages of both the human and the industrial robot to afford a new intelligent manufacturing techniques. The cooperative manufacturing between the worker and the…

Daily manipulation tasks are characterized by geometric primitives related to actions and object shapes. Such geometric descriptors are poorly represented by only using Cartesian coordinate systems. In this paper, we propose a learning…

In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…

While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…

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…

Collaboration between human and robot requires effective modes of communication to assign robot tasks and coordinate activities. As communication can utilize different modalities, a multi-modal approach can be more expressive than single…

Designing effective rehabilitation strategies for upper extremities, particularly hands and fingers, warrants the need for a computational model of human motor learning. The presence of large degrees of freedom (DoFs) available in these…

Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite…

Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…

In imitation learning for robotic manipulation, decomposing object manipulation tasks into sub-tasks enables the reuse of learned skills and the combination of learned behaviors to perform novel tasks, rather than simply replicating…

Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…

We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…

Bimanual operations in humanoids offer the possibility to carry out more than one manipulation task at the same time, which in turn introduces the problem of task prioritization. We address this problem from a learning from demonstration…

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…

Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step…

Humans coordinate the abundant degrees of freedom (DoFs) of hands to dexterously perform tasks in everyday life. We imitate human strategies to advance the dexterity of multi-DoF robotic hands. Specifically, we enable a robot hand to grasp…

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…