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Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…

Application of humanoid robots has been common in the field of healthcare and education. It has been recurrently used to improve social behavior and mollify distress level among children with autism, cancer and cerebral palsy. This article…

Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…

Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…

Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…

Legged robots have achieved impressive feats in dynamic locomotion in challenging unstructured terrain. However, in entertainment applications, the design and control of these robots face additional challenges in appealing to human…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that…

Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…

This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…

Social robots are increasingly being explored as tools to support emotional wellbeing, particularly in non-clinical settings. Drawing on a range of empirical studies and practical deployments, this paper outlines six key insights that…

Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's…

In this paper we introduce the core results of the project on software development for social robotics systems. The usability of maintenance and control features is crucial for many kinds of systems, but in the case of social robotics we…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…

This paper presents our first attempt to integrate user modeling features in social and affective robots. We propose a cloud-based architecture for modeling the user-robot interaction in order to re-use the approach with different kind of…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…

The control system in surgical robots must ensure patient safety and real time control. As such, all the uncertainties which could appear should be considered into an extended model of the plant. After such an uncertain plant is formed, an…