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Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
Pseudo-haptics techniques are interesting alternatives for generating haptic perceptions, which entails the manipulation of haptic perception through the appropriate alteration of primarily visual feedback in response to body movements.…
Recent advances of locomotion controllers utilizing deep reinforcement learning (RL) have yielded impressive results in terms of achieving rapid and robust locomotion across challenging terrain, such as rugged rocks, non-rigid ground, and…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
Remote VR teleoperation with supernumerary robotic limbs enables distant users to operate in another's local space. While a shared first-person view aids hand-eye coordination, locking the guest's camera to the host's head can degrade…
Robots operating in an open world will encounter novel objects with unknown physical properties, such as mass, friction, or size. These robots will need to sense these properties through interaction prior to performing downstream tasks with…
We evaluate two methods of signalling abrupt direction changes of a robotic platform using a Mixed Reality avatar. The "Body" method uses gaze, gesture and torso direction to point to upcoming waypoints. The "Path" method visualises the…
With the increasing amount of data being visualized in large information spaces, methods providing data-driven context have become indispensable. Off-screen visualization techniques, therefore, have been extensively researched for their…
The neural plausibility of backpropagation has long been disputed, primarily for its use of non-local weight transport $-$ the biologically dubious requirement that one neuron instantaneously measure the synaptic weights of another. Until…
Transportation systems often rely on understanding the flow of vehicles or pedestrian. From traffic monitoring at the city scale, to commuters in train terminals, recent progress in sensing technology make it possible to use cameras to…
Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…
We investigate ideal and non-ideal continuous-variable quantum teleportation protocols realized by using an entangled displaced Fock state resource. The characteristic function formulation is applied to measure the relative performance of…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
In-hand object reorientation is necessary for performing many dexterous manipulation tasks, such as tool use in less structured environments that remain beyond the reach of current robots. Prior works built reorientation systems assuming…
Perception is often viewed as a process that transforms physical variables, external to an observer, into internal psychological variables. Such a process can be modeled by a function coined perceptual scale. The perceptual scale can be…
Robotic locomotion research typically draws from biologically inspired leg designs, yet many human-engineered settings can benefit from non-anthropomorphic forms. TARS3D translates the block-shaped 'TARS' robot from Interstellar into a 0.25…
We propose a threshold decision-making framework for controlling the physical dynamics of an agent switching between two spatial tasks. Our framework couples a nonlinear opinion dynamics model that represents the evolution of an agent's…
The advancement of Virtual Reality (VR) technology is focused on improving its immersiveness, supporting multiuser Virtual Experiences (VEs), and enabling users to move freely within their VEs while remaining confined to specialized VR…