相关论文: Mechatronics-Driven Musical Expressivity for Robot…

The shift to electric and hybrid powertrains in vehicular systems has propelled advancements in mobile robotics and autonomous vehicles. This paper examines the sensitivity of key performance metrics in a electrified heavy-duty mobile…

Endowing robot hands with human-level dexterity has been a long-standing goal in robotics. Bimanual robotic piano playing represents a particularly challenging task: it is high-dimensional, contact-rich, and requires fast, precise control.…

Humanoid robots have demonstrated strong capabilities for interacting with static scenes across locomotion and manipulation, yet dynamic real-world interactions remain challenging. As a step toward fast-moving object interactions, we…

Making music with other people is a social activity as well as an artistic one. Music therapists take advantage of the social aspects of music to obtain benefits for the patients, interacting with them musically, but this activity requires…

In this paper we describe our efforts towards the development of live performance computer-based musical instrumentation. Our design criteria include initial ease of use coupled with a long term potential for virtuosity, minimal and low…

Coordinating the motion between lower and upper limbs and aligning limb control with perception are substantial challenges in robotics, particularly in dynamic environments. To this end, we introduce an approach for enabling legged mobile…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…

The six-degree-of-freedom (6-DOF) robotic arm has gained widespread application in human-coexisting environments. While previous research has predominantly focused on functional motion generation, the critical aspect of expressive motion in…

Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…

The rapid development and expansion of the EV market marked by the advent of third decade of the 21st century has improved the possibility of a sustainable automotive future. The present EV drivetrain run by BLDC motor has become…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…

In this work, we introduce the demonstration of symbolic music generation, focusing on providing short musical motifs that serve as the central theme of the narrative. For the generation, we adopt an autoregressive model which takes musical…

Wearable robotics bring the opportunity to augment human capability and performance, be it through prosthetics, exoskeletons, or supernumerary robotic limbs. The latter concept allows enhancing human performance and assisting them in daily…

Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…

Deep learning-based probabilistic models of musical data are producing increasingly realistic results and promise to enter creative workflows of many kinds. Yet they have been little-studied in a performance setting, where the results of…

Collaboration is built on trust, and establishing trust with a creative Artificial Intelligence is difficult when the decision process or internal state driving its behaviour isn't exposed. When human musicians improvise together, a number…

While recent advancements in AI music generation have predominantly focused on direct audio synthesis, these systems suffer from inherent rigidity, limiting their utility for professional music producers who require granular, highly…

We present a system for real-time lyrical improvisation between a human and a robot in the style of hip hop. Our system takes vocal input from a human rapper, analyzes the semantic meaning, and generates a response that is rapped back by a…

Children with Autism Spectrum Disorder (ASD) experience deficits in verbal and nonverbal communication skills including motor control, turn-taking, and emotion recognition. Innovative technology, such as socially assistive robots, has shown…

Bio-inspired underwater vehicles could yield improved efficiency, maneuverability, and environmental compatibility over conventional propeller-driven underwater vehicles. However, to realize the swimming performance of biology, there is a…