相关论文: Diversity-based Design Assist for Large Legged Rob…
Large-language models (LLMs) hold significant promise in improving human-robot interaction, offering advanced conversational skills and versatility in managing diverse, open-ended user requests in various tasks and domains. Despite the…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
The growth of scale and complexity of interactions between humans and robots highlights the need for new computational methods to automatically evaluate novel algorithms and applications. Exploring diverse scenarios of humans and robots…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force output. Few platforms exist today for SAR, and fewer still have…
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…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…
The automatic design of embodied agents (e.g. robots) has existed for 31 years and is experiencing a renaissance of interest in the literature. To date however, the field has remained narrowly focused on two kinds of anatomically simple…
Exploratoration and self-observation are key mechanisms of infant sensorimotor development. These processes are further guided by parental scaffolding accelerating skill and knowledge acquisition. In developmental robotics, this approach…
Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…
Evolution has produced an astonishing diversity of species, each filling a different niche. Algorithms like MAP-Elites mimic this divergent evolutionary process to find a set of behaviorally diverse but high-performing solutions, called the…
Robot-assisted dressing could benefit the lives of many people such as older adults and individuals with disabilities. Despite such potential, robot-assisted dressing remains a challenging task for robotics as it involves complex…
The applicability of computational models to the biological world is an active topic of debate. We argue that a useful path forward results from abandoning hard boundaries between categories and adopting an observer-dependent, pragmatic…
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…