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This paper presents the development and experimental evaluation of a surgical robotic system for total hip arthroplasty (THA). Although existing robotic systems used in joint replacement surgery have achieved some progresses, the robot arm…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and stability. Northeastern University's COBRA (Crater Observing…
The animation community has spent significant effort trying to ease rigging procedures. This is necessitated because the increasing availability of 3D data makes manual rigging infeasible. However, object animations involve understanding…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…
Human-like planning skills and dexterous manipulation have long posed challenges in the fields of robotics and artificial intelligence (AI). The task of reinterpreting calligraphy presents a formidable challenge, as it involves the…
As human-robot collaboration advances, natural and flexible communication methods are essential for effective robot control. Traditional methods relying on a single modality or rigid rules struggle with noisy or misaligned data as well as…
Symbolic anchoring is a crucial problem in the field of robotics, as it enables robots to obtain symbolic knowledge from the perceptual information acquired through their sensors. In cognitive-based robots, this process of processing…
Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. This is achieved by coupling the motion of the prosthesis to the human command, such as the residual limb…
We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations. Unlike existing approaches that solely rely on kinematics information without taking into account the plausibility of robot and…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
One of the most elusive goals in myographic prosthesis control is the ability to reliably decode continuous positions simultaneously across multiple degrees-of-freedom. Goal: To demonstrate dexterous, natural, biomimetic finger and wrist…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
Reduced-order models are central to motion planning and control of quadruped robots, yet existing templates are often hand-crafted for a specific locomotion modality. This motivates the need for automatic methods that extract task-specific,…
Choreographic Programming is a paradigm for the development of concurrent software, where deadlocks are prevented syntactically. However, choreography languages are typically synchronous, whereas many real-world systems have asynchronous…
Synthesising appropriate choreographies from music remains an open problem. We introduce MDLT, a novel approach that frames the choreography generation problem as a translation task. Our method leverages an existing data set to learn to…
Robots that learn manipulation skills from everyday human videos could acquire broad capabilities without tedious robot data collection. We propose a video-to-video translation framework that converts ordinary human-object interaction…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
As artificial intelligence shifts from pure tool for delegation toward agentic collaboration, its use in the arts can shift beyond the exploration of machine autonomy toward synergistic co-creation. While our earlier robotic works utilized…