相关论文: Supervised Autonomous Locomotion and Manipulation …
Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human…
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…
Arm end-effector stabilization is essential for humanoid loco-manipulation tasks, yet it remains challenging due to the high degrees of freedom and inherent dynamic instability of bipedal robot structures. Previous model-based controllers…
Omnidirectional aerial robots offer full 6-DoF independent control over position and orientation, making them popular for aerial manipulation. Although advancements in robotic autonomy, human operation remains essential in complex aerial…
Humanoid robots have achieved impressive locomotion performance, yet contact-rich and long-horizon manipulation remains a major bottleneck. Manipulation is inherently contact-rich and demands compliant whole-body control for stable…
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degrees of freedom dissimilar to those of human operators, it is…
Validating Augmented Reality (AR) tracking and interaction models requires precise, repeatable ground-truth motion. However, human users cannot reliably perform consistent motion due to biomechanical variability. Robotic manipulators are…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
In this paper, an autonomous tethered Unmanned Aerial Vehicle (UAV) is developed into a visual assistant in a marsupial co-robots team, collaborating with a tele-operated Unmanned Ground Vehicle (UGV) for robot operations in unstructured or…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…
Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…