相关论文: Towards Robot-independent Manipulation Behavior De…

Ensuring safety is of paramount importance in physical human-robot interaction applications. This requires both adherence to safety constraints defined on the system state, as well as guaranteeing compliant behavior of the robot. If the…

Using natural language to give instructions to robots is challenging, since natural language understanding is still largely an open problem. In this paper we address this problem by restricting our attention to commands modeled as one…

Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…

This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…

Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…

With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans.…

This paper presents a computational model of the processing of dynamic spatial relations occurring in an embodied robotic interaction setup. A complete system is introduced that allows autonomous robots to produce and interpret dynamic…

Design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator are explored. The controller developed provides autonomous control of the serpentine robotic…

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks or unpredictable environments, while keeping a transparent policy that is readable and verifiable by humans. We propose the method…

Mobile robots are being used on a large scale in various crowded situations and become part of our society. The socially acceptable navigation behavior of a mobile robot with individual human consideration is an essential requirement for…

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…

Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…

We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…

In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating…

The specification and validation of robotics applications require bridging the gap between formulating requirements and systematic testing. This often involves manual and error-prone tasks that become more complex as requirements, design,…

A reinforcement learning (RL) based method that enables the robot to accomplish the assembly-type task with safety regulations is proposed. The overall strategy consists of grasping and assembly, and this paper mainly considers the assembly…

Autonomous agents are increasingly expected to operate in complex, dynamic, and uncertain environments, performing tasks such as manipulation, navigation, and decision-making. Achieving these capabilities requires agents to understand the…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

Structural nonlinearity can be harnessed to program complex functionalities in robotic devices. However, it remains a challenge to design nonlinear systems that will accomplish a specific, desired task. The responses that we typically…

In this technical report we describe describe the Domain Specific Language (DSL) of the Workflow Execution Execution (WEE). Instead of interpreting an XML based workflow description language like BPEL, the WEE uses a minimized but…