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Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most…
The proven efficacy of learning-based control schemes strongly motivates their application to robotic systems operating in the physical world. However, guaranteeing correct operation during the learning process is currently an unresolved…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
Robustness and fault-tolerance are desirable properties for hydraulic working machines and field robots. In applications where service personnel do not have easy access to the machine, it is important that the machine can continue its…
Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity, making shared safety requirements…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of…
Collaborative robots are increasingly deployed alongside humans in factories, hospitals, schools, and other domains to enhance teamwork and efficiency. Systems that seamlessly integrate humans and robots into cohesive teams for coordinated…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
This paper introduces the notion of danger awareness in the context of Human-Robot Interaction (HRI), which decodes whether a human is aware of the existence of the robot, and illuminates whether the human is willing to engage in enforcing…
Maintaining situational awareness (SA) is critical in human-robot teams. Yet, under high workload and dynamic conditions, operators often experience SA gaps. Automated detection of SA gaps could provide timely assistance for operators.…