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Electroadhesion (EA) has potential in robotics, automation, space missions, textiles, and tactile displays, but its physics remains underexplored due to limited models and experimental data. This thesis develops an electro-mechanical model…
Robotic endoscopic systems provide intuitive control and eliminate radiation exposure, making them a promising alternative to conventional methods. However, the lack of axial force measurement from the robot remains a major challenge, as it…
Numerous safety- or security-critical systems depend on cameras to perceive their surroundings, further allowing artificial intelligence (AI) to analyze the captured images to make important decisions. However, a concerning attack vector…
Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…
Although multimodal large language models (MLLMs) are increasingly deployed in real-world applications, their instruction-following behavior leaves them vulnerable to prompt injection attacks. Existing prompt injection methods predominantly…
Embodied Artificial Intelligence (Embodied AI) is gaining momentum in the machine learning communities with the goal of leveraging current progress in AI (deep learning, transformers, large language and visual-language models) to empower…
Tactile perception is crucial for embodied intelligent robots to recognize objects. Vision-based tactile sensors extract object physical attributes multidimensionally using high spatial resolution; however, this process generates abundant…
The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…
Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…
The rapid deployment of electric vehicle charging stations (EVCS) within distribution networks necessitates intelligent and adaptive control to maintain the grid's resilience and reliability. In this work, we propose PHANTOM, a…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Machine learning models are known to be vulnerable to adversarial perturbations in the input domain, causing incorrect predictions. Inspired by this phenomenon, we explore the feasibility of manipulating EEG-based Motor Imagery (MI) Brain…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot…
Embodied AI represents systems where AI is integrated into physical entities. Large Language Model (LLM), which exhibits powerful language understanding abilities, has been extensively employed in embodied AI by facilitating sophisticated…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
While the exploration for embodied AI has spanned multiple decades, it remains a persistent challenge to endow agents with human-level intelligence, including perception, learning, reasoning, decision-making, control, and generalization…
Electromagnetic (EM) sensing is a wide-spread contactless examination technique in science, engineering and military. However, conventional sensing systems are mostly lack of intelligence, which not only require expensive hardware and…
The field of AI Control seeks to develop robust control protocols, deployment safeguards for untrusted AI which may be intentionally subversive. However, existing protocols that rely on weaker monitors to detect unsafe behavior often fail…
Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt its actions throughout interaction.…