机器人学
Wearable robots aim to seamlessly adapt to humans and their environment with personalized interactions. Existing supernumerary robotic limbs (SRLs), which enhance the physical capabilities of humans with additional extremities, have thus…
Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge. While Dynamic Movement Primitives…
In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap between vertical takeoff and landing…
Recent advances in large AI models (VLMs and LLMs) and joint use of the 3D dense maps, enable mobile robots to provide more powerful and interactive services grounded in rich spatial context. However, deploying both heavy AI models and…
This paper studies offline, zero-shot planning under Signal Temporal Logic (STL) specifications. We assume access only to an offline dataset of state-action-state transitions collected by a task-agnostic behavior policy, with no analytical…
Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to…
Robotic manipulation involves kinematic and semantic transitions that are inherently coupled via underlying actions. However, existing approaches plan within either semantic or latent space without explicitly aligning these cross-modal…
The use of semantic features can improve the efficiency of target search in unknown environments for robotic search and rescue missions. Current target search methods rely on training with large datasets of similar domains, which limits the…
State estimation for legged robots remains challenging because legged odometry generally suffers from limited observability and therefore depends critically on measurement constraints to suppress drift. When exteroceptive sensors are…
As the amount of used home appliances is expected to increase despite the decreasing labor force in Japan, there is a need to automate disassembling processes at recycling plants. The automation of disassembling air conditioner outdoor…
The embodied learning of human motor control requires whole-body neuro-actuated musculoskeletal dynamics, while the internal muscle-driven processes underlying movement remain inaccessible to direct measurement. Computational modeling…
Robotic reproduction of oil paintings using soft brushes and pigments requires force-sensitive control of deformable tools, prediction of brushstroke effects, and multi-step stroke planning, often without human step-by-step demonstrations…
Commercial lunar activity is accelerating the need for reliable surface infrastructure and routine operations to keep it functioning. Maintenance tasks such as inspection, cleaning, dust mitigation, and minor repair are essential to…
Accurate and efficient environment representation is crucial for robotic applications such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a powerful representation for encoding distance to…
Future infrastructure construction on the lunar surface will require semi- or fully-autonomous operation from robots deployed at the build site. In particular, tasks such as electrical outfitting necessitate transport, routing, and fine…
Dexterous hand teleoperation requires motion re-targeting methods that simultaneously achieve high-frequency real-time performance and enforcement of heterogeneous kinematic and safety constraints. Existing nonlinear optimization-based…
Prevailing 2D-centric visuomotor policies exhibit a pronounced deficiency in novel view generalization, as their reliance on static observations hinders consistent action mapping across unseen views. In response, we introduce GenSplat, a…
High-fidelity 3D occupancy mapping is essential for many edge-based applications (such as AR/VR and autonomous navigation) but is limited by power constraints. We present Gleanmer, a system on chip (SoC) with an accelerator for GMMap, a 3D…
Many multi-robot applications require tasks to be completed efficiently and in the correct order, so that downstream operations can proceed at the right time. Multi-agent path finding with precedence constraints (MAPF-PC) is a well-studied…
Multi-agent traffic simulation is central to developing and testing autonomous driving systems. Recent data-driven simulators have achieved promising results, but rely heavily on supervised learning from labeled trajectories or semantic…