相关论文: Interactive Co-Design of Form and Function for Leg…
Programming a robotic is a complex task, as it demands the user to have a good command of specific programming languages and awareness of the robot's physical constraints. We propose a framework that simplifies robot deployment by allowing…
Humans have developed the capability to teach relevant aspects of new or adapted tasks to a social peer with very few task demonstrations by making use of scaffolding strategies that leverage prior knowledge and importantly prior joint…
Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…
Forensic mental health care involves the treatment of individuals with severe mental disorders who have committed violent offences. These settings are often characterized by high levels of bureaucracy, risk avoidance, and restricted…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
Human-AI co-creation aims to combine human and AI strengths for artistic results exceeding individual capabilities. Frameworks exist for painting, music, and poetry, but choreography's embodied nature demands a dedicated approach. This…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Robot co-design, jointly optimizing morphology and control policy, remains a longstanding challenge in the robotics community, where many promising robots have been developed. However, a key limitation lies in its tendency to converge to…
The objective of this paper is to distill the following essential idea from the RSS 2016 Workshop on Minimality and Design Automation and the RSS 2017 Workshop on Minimality and Trade-offs in Automated Robot Design: The information…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
As artificial intelligence shifts from pure tool for delegation toward agentic collaboration, its use in the arts can shift beyond the exploration of machine autonomy toward synergistic co-creation. While our earlier robotic works utilized…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Specifying complex task behaviours while ensuring good robot performance may be difficult for untrained users. We study a framework for users to specify rules for acceptable behaviour in a shared environment such as industrial facilities.…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Social robots, also known as service or assistant robots, have been developed to improve the quality of human life in recent years. The design of socially capable and intelligent robots can vary, depending on the target user groups. In this…
In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design…
The vision of adaptive architecture proposes that robotic technologies could enable interior spaces to physically transform in a bidirectional interaction with occupants. Yet, it is still unknown how this interaction could unfold in an…