相关论文: Understanding URDF: A Survey Based on User Experie…
As the complexity of robot systems increases, it becomes more effective to simulate them before deployment. To do this, a model of the robot's kinematics or dynamics is required, and the most commonly used format is the Unified Robot…
Robotic designs played an important role in recent advances by providing powerful robots with complex mechanics. Many recent systems rely on parallel actuation to provide lighter limbs and allow more complex motion. However, these emerging…
Designs incorporating kinematic loops are becoming increasingly prevalent in the robotics community. Despite the existence of dynamics algorithms to deal with the effects of such loops, many modern simulators rely on dynamics libraries that…
Robots are typically described in software by specification files (e.g., URDF, SDF, MJCF, USD) that encode only basic kinematic, dynamic, and geometric information. As a result, downstream applications such as simulation, planning, and…
Integrating robot systems into manufacturing lines is a time-consuming process. In the era of digitalization, the research and development of new technologies is crucial for improving integration processes. Numerous challenges, including…
The number of tools for dynamics simulation has grown in the last years. It is necessary for the robotics community to have elements to ponder which of the available tools is the best for their research. As a complement to an objective and…
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to…
The Xacro XML macro language extends the Universal Robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. However, members of the robotics…
Many applications in robotics require primitive spherical geometry, especially in cases where efficient distance queries are necessary. Manual creation of spherical models is time-consuming and prone to errors. This paper presents Foam, a…
Robotics simulation plays an important role in the design, development, and verification and validation of robotic systems. Recent studies have shown that simulation may be used as a cheaper, safer, and more reliable alternative to manual,…
Learning from Demonstration (LfD) is a framework that allows lay users to easily program robots. However, the efficiency of robot learning and the robot's ability to generalize to task variations hinges upon the quality and quantity of the…
This paper reports a case study on the User Experience (UX)of an industrial robotic prototype in the context of human-robot cooperation in an automotive assembly line. The goal was to find out what kinds of suggestions the assembly line…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
The demand for social robots in fields like healthcare, education, and entertainment increases due to their emotional adaptation features. These robots leverage multimodal communication, incorporating speech, facial expressions, and…
It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training,…
Robots are increasingly being deployed in public spaces. However, the general population rarely has the opportunity to nominate what they would prefer or expect a robot to do in these contexts. Since most people have little or no experience…
Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…
Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in Artificial Intelligence. However, as a community, we have…
Robots can greatly enhance human capabilities, yet their development presents a range of challenges. This collaborative study, conducted by a team of software engineering and robotics researchers, seeks to identify the challenges…
Feedback design is an important aspect of person-following robots for older adults. This paper presents a user-centred design approach to ensure the design is focused on the needs and preferences of the users. A sequence of user studies…