Related papers: A Shared-Autonomy Construction Robotic System for …
This paper presents field-tested use cases from Search and Rescue (SAR) missions, highlighting the co-design of mobile robots and communication systems to support Edge-Cloud architectures based on 5G Standalone (SA). The main goal is to…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
Teleoperation is a critical method for human-robot interface, holds significant potential for enabling robotic applications in industrial and unstructured environments. Existing teleoperation methods have distinct strengths and limitations…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Learning robot manipulation policies from raw, real-world image data requires a large number of robot-action trials in the physical environment. Although training using simulations offers a cost-effective alternative, the visual domain gap…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…
Soldiers in the field often need to cross negative obstacles, such as rivers or canyons, to reach goals or safety. Military gap crossing involves on-site temporary bridges construction. However, this procedure is conducted with dangerous,…
Digitizing 3D static scenes and 4D dynamic events from multi-view images has long been a challenge in computer vision and graphics. Recently, 3D Gaussian Splatting (3DGS) has emerged as a practical and scalable reconstruction method,…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
This work presents a novel approach for \textit{bearing rigidity} analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into \textit{subframeworks}, we express…
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
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…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
This paper presents the plan of an in-pipe climbing robot that works utilizing a novel Three-Output Open Differential(3-OOD) component to navigate complex organizations of lines. Customary wheeled/followed in-pipe climbing robots are…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…