Related papers: Cooperative Task Spaces for Multi-Arm Manipulation…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
In this work, we propose a hybrid hierarchical control framework for reactive dexterous grasping that explicitly decouples high-level spatial intent from low-level joint execution. We introduce a multi-agent reinforcement learning…
This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design…
The application of teleoperation to control robotic arms has been widely explored, and user-friendly teleoperation systems have been studied for facilitating higher performance and lower operational burden. To investigate the dominant…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
Many problems in robotics are fundamentally problems of geometry, which lead to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie…
In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Multi-task robotic bimanual manipulation is becoming increasingly popular as it enables sophisticated tasks that require diverse dual-arm collaboration patterns. Compared to unimanual manipulation, bimanual tasks pose challenges to…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Optimizing the morphologies and the controllers that adapt to various tasks is a critical issue in the field of robot design, aka. embodied intelligence. Previous works typically model it as a joint optimization problem and use search-based…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…
We present a programming model and typing discipline for complex multi-robot coordination programming. Our model encompasses both synchronisation through message passing and continuous-time dynamic motion primitives in physical space. We…
Task and motion planning is a well-established approach for solving long-horizon robot planning problems. However, traditional methods assume that each task-level robot action, or skill, can be reduced to kinematic motion planning. We…
This paper explores cooperative trajectory planning approaches within the context of human-machine shared control. In shared control research, it is typically assumed that the human and the automation use the same reference trajectory to…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…