相关论文: Information Requirements of Collision-Based Microm…

Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…

Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…

Microscale manipulation has advanced substantially in controlled locomotion and targeted transport, yet many biomedical applications require precise and adaptive interaction with biological micro-objects. At these scales, manipulation is…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…

The design and development of robots involve the essential step of selecting and testing robotic interfaces. This interface selection requires careful consideration as the robot's physical embodiment influences and adds to the traditional…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

The development of artificial agents for social interaction pushes to enrich robots with social skills and knowledge about (local) social norms. One possibility is to distinguish the expressive and the functional orders during a human-robot…

Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…

Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…

The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…

Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing work considered models ranging from intuitive physics and physical simulators to…

As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…

This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…

Multi-robot systems enhance efficiency and productivity across various applications, from manufacturing to surveillance. While single-robot motion planning has improved by using databases of prior solutions, extending this approach to…

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…

Service robots can help with many of our daily tasks, especially in those cases where it is inconvenient or unsafe for us to intervene: e.g., under extreme weather conditions or when social distance needs to be maintained. However, before…