相关论文: Towards Generalized Robot Assembly through Complia…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

In the last two decades the scientific community has shown a great interest in understanding and shaping the interaction mechanisms between humans and robots. The interaction implies communication between two dyadic agents and, if the type…

Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…

Robotic insertion is a highly challenging task that requires exceptional precision in cluttered environments. Existing methods often have poor generalization capabilities. They typically function in restricted and structured environments,…

This paper aims at solving mass precise peg-in-hole assembly. First, a feature space and a response space are constructed according to the relative pose and equivalent forces and moments. Then the contact states are segmented in the feature…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…

Robotic failure is all too common in unstructured robot tasks. Despite well designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the senseplan- act…

Contact force in contact-rich environments is an essential modality for robots to perform general-purpose manipulation tasks, as it provides information to compensate for the deficiencies of visual and proprioceptive data in collision…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…

The need for contact-rich tasks is rapidly growing in modern manufacturing settings. However, few traditional robotic assembly skills consider environmental constraints during task execution, and most of them use these constraints as…

Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…

Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…

Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…

The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…