相关论文: Reacting to Contact: Transparency and Collision Re…
This paper discuss the integration of risk into a robot control framework for decommissioning applications in the nuclear industry. Our overall objective is to allow the robot to evaluate a risk associated with several methods of completing…
Touch is an important channel for human-robot interaction, while it is challenging for robots to recognize human touch accurately and make appropriate responses. In this paper, we design and implement a set of large-format distributed…
One of the bottlenecks of automated driving technologies is safe and socially acceptable interactions with human-driven vehicles, for example during merging. Driver models that provide accurate predictions of joint and individual driver…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Detecting other agents and forecasting their behavior is an integral part of the modern robotic autonomy stack, especially in safety-critical scenarios entailing human-robot interaction such as autonomous driving. Due to the importance of…
Scattering theory traditionally deals with the asymptotic behaviour of a system far removed from the actual scattering event. Here we present an experimental study of the one-dimensional scattering of a non-interacting condensate of 87-Rb…
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
Safety in human-robot interaction can be divided into physical safety and perceived safety, where the latter is still under-addressed in the literature. Investigating perceived safety in human-robot interaction requires a multidisciplinary…
Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…
Trust in robots is widely believed to be imperative for the adoption of robots into people's daily lives. It is, therefore, understandable that the literature of the last few decades focuses on measuring how much people trust robots -- and…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Trust plays a central role in human--robot collaboration, yet its formation is rarely examined under the constraints of fully autonomous interaction. This pilot study investigated how interaction policy influences trust during in-person…
Precision reducers are critical components in robotic systems, directly affecting the motion accuracy and dynamic performance of humanoid robots, quadruped robots, collaborative robots, industrial robots, and SCARA robots. This paper…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
Natural and artificial self-propelled systems must manage environmental interactions during movement. Such interactions, which we refer to as active collisions, are fundamentally different from momentum-conserving interactions studied in…