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Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…

Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…

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…

We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

To facilitate natural and intuitive interactions with diverse user groups in real-world settings, social robots must be capable of addressing the varying requirements and expectations of these groups while adapting their behavior based on…

In this paper, a kinematically modular approach to robot control is presented. The method involves structures called Elementary Dynamic Actions and a network model combining these elements. With this control framework, a rich repertoire of…

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…

Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…

For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…

We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…

This paper presents KUKAloha, a general, low-cost, and shared-control teleoperation framework designed for construction robot arms. The proposed system employs a leader-follower paradigm in which a lightweight leading arm enables intuitive…

In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…

Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…

Recent advances in sensing, communication, interfaces, control, and robotics are expanding Human-Building Interaction (HBI) beyond adaptive building services and facades toward the physical actuation of architectural space. In parallel,…

Applications of force control and motion planning often rely on an inverse dynamics model to represent the high-dimensional dynamic behavior of robots during motion. The widespread occurrence of low-velocity, small-scale, locally isotropic…

Minimally invasive surgery (MIS) procedures benefit significantly from robotic systems due to their improved precision and dexterity. However, ensuring safety in these dynamic and cluttered environments is an ongoing challenge. This paper…