Related papers: Task Capability Improvement Algorithm for Collabor…
Since cobots (collaborative robots) are increasingly being introduced in industrial environments, being aware of their potential positive and negative impacts on human collaborators is essential. This study guides occupational health…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws…
This paper considers how heterogeneous multi-agent teams can leverage their different capabilities to mutually improve individual agent performance. We present Capability-Augmenting Tasks (CATs), which encode how agents can augment their…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Effective human-human and human-autonomy teamwork is critical but often challenging to perfect. The challenge is particularly relevant in time-critical domains, such as healthcare and disaster response, where the time pressures can make…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in…
For tasks where the dynamics of multiple agents are physically coupled, e.g., in cooperative manipulation, the coordination between the individual agents becomes crucial, which requires exact knowledge of the interaction dynamics. This…
Current evaluations of agents remain centered around one-shot task completion, failing to account for the inherently iterative and collaborative nature of many real-world problems, where human goals are often underspecified and evolve. We…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
A technique for speeding up reinforcement learning algorithms by using time manipulation is proposed. It is applicable to failure-avoidance control problems running in a computer simulation. Turning the time of the simulation backwards on…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own…
Collaborative training can improve the accuracy of a model for a user by trading off the model's bias (introduced by using data from other users who are potentially different) against its variance (due to the limited amount of data on any…
The 5.0 industry promotes collaborative robots (cobots). This research studies the impacts of cobot collaboration using an experimental setup. 120 participants realized a simple and a complex assembly task. 50% collaborated with another…