机器人学
Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under collision constraints. Deburring in…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action chunking approaches struggle to achieve both. Building on…
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studies focus on optimizing link dimensions…
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
Learning contact-rich manipulation is difficult from cameras and proprioception alone because contact events are only partially observed. We test whether training-time instrumentation, i.e., object sensorisation, can improve policy…
Bimanual manipulation, i.e., the coordinated use of two robotic arms to complete tasks, is essential for achieving human-level dexterity in robotics. Recent simulation benchmarks, e.g., RoboTwin and RLBench2, have advanced data-driven…
Robotic and embodied-AI systems have the potential to improve accessibility and quality of care in clinical settings, but their deployment in close physical contact with vulnerable patients introduces significant safety risks. This paper…
This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…
We propose a method for the collective maneuvering of affine formations in the plane by modifying the original weights of the Laplacian matrix used to achieve static formations of robot swarms. Specifically, the resulting collective motion…
Achieving robot transparency is a critical step toward effective human-robot collaboration. To be transparent, a robot's natural language communication must be consistent with its actions and explicitly grounded in the task and environment.…
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time; however, conventional laparoscopic instruments remain constrained by limited range of movements. This work presents the control architecture of a 4-DOF…
Vision-Language-Action (VLA) models have achieved remarkable success in robotic manipulation. However, their robustness to linguistic nuances remains a critical, under-explored safety concern, posing a significant safety risk to real-world…
This paper addresses a fundamental problem of visuomotor policy learning for robotic manipulation: how to enhance robustness in out-of-distribution execution errors or dynamically re-routing trajectories, where the model relies solely on…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
The World Action Model (WAM) can jointly predict future world states and actions, exhibiting stronger physical manipulation capabilities compared with traditional models. Such powerful physical interaction ability is a double-edged sword:…
Multi-agent embodied systems hold promise for complex collaborative manipulation, yet face critical challenges in spatial coordination, temporal reasoning, and shared workspace awareness. Inspired by human collaboration where cognitive…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…