相关论文: Speech Controlled Quadruped
There is a growing interest in learning a velocity command tracking controller of quadruped robot using reinforcement learning due to its robustness and scalability. However, a single policy, trained end-to-end, usually shows a single gait…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…
Interactions with electronic devices are changing in our daily lives. The day-to-day development brings curiosity to recent technology and challenges its use. The gadgets are becoming cumbersome, and their usage frustrates a segment of…
With robotics rapidly advancing, more effective human-robot interaction is increasingly needed to realize the full potential of robots for society. While spoken language must be part of the solution, our ability to provide spoken language…
This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
We explore the interpretation of sound for robot decision making, inspired by human speech comprehension. While previous methods separate sound processing unit and robot controller, we propose an end-to-end deep neural network which…
In this paper, we extended the method proposed in [21] to enable humans to interact naturally with autonomous agents through vocal and textual conversations. Our extended method exploits the inherent capabilities of pre-trained large…
Guidance robots that can guide people and avoid various obstacles, could potentially be owned by more visually impaired people at a fairly low cost. Most of the previous guidance robots for the visually impaired ignored the human response…
When humans control robot arms these robots often need to infer the human's desired task. Prior research on assistive teleoperation and shared autonomy explores how robots can determine the desired task based on the human's joystick inputs.…
This work introduces a robotics platform which embeds a conversational AI agent in an embodied system for natural language understanding and intelligent decision-making for service tasks; integrating task planning and human-like…
The need for customizable properties in autonomous robotic platforms, such as in-home nursing care for the elderly and parallel implementations of human-to-machine control interfaces creates an opportunity to introduce methods deploying…
In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of…
Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
In this study Arduino card based mobile robot design was realized. This robot can serve as a security robot, an auxiliary robot or a control robot. The designed robot has two operation modes. The first operating mode is autonomous mode. In…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based…