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The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it…
Robotic automation has transformed scientific workflows in domains such as chemistry and materials science, yet free-space optics, which is a high precision domain, remains largely manual. Optical systems impose strict spatial and angular…
The Industrial Assembly Challenge at the World Robot Summit was held in 2018 to showcase the state-of-the-art of autonomous manufacturing systems. The challenge included various tasks, such as bin picking, kitting, and assembly of standard…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
Robotic manipulators are widely used in modern manufacturing processes. However, their deployment in unstructured environments remains an open problem. To deal with the variety, complexity, and uncertainty of real-world manipulation tasks,…
We discuss the in-flight autonomous assembly as the means to build advanced planetary science payloads to explore the outer regions of the solar system. These payloads are robotically constructed from modular parts delivered by a group of…
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…
Automation in construction has the potential to expand the technological landscape of labor intensive tasks, and bring gains in efficiency and productivity to sustain global competitiveness. In this paper we propose a task-level approach…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
As humans venture deeper into space, the need for a lunar settlement, housing the first group of settlers, grows steadily. By means of new technologies such as in situ resource utilisation (ISRU) as well as computational design, this goal…
Solar trajectory monitoring is a pivotal challenge in solar energy systems, underpinning applications such as autonomous energy harvesting and environmental sensing. A prevalent failure mode in sustained solar tracking arises when the…
We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…
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…
In this paper, a control approach called Artificial Neural Tissue (ANT) is applied to multirobot excavation for lunar base preparation tasks including clearing landing pads and burying of habitat modules. We show for the first time, a team…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…