相关论文: Enabling Building Information Model-Driven Human-R…
Building Information Modeling (BIM) is a crucial technology in the construction industry, offering benefits such as enhanced collaboration, real-time decision-making, and significant cost and time savings. Despite its advantages, BIM…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…
Research on human-robot collaboration or human-robot teaming, has focused predominantly on understanding and enabling collaboration between a single robot and a single human. Extending human-robot collaboration research beyond the dyad,…
Digital twin (DT) offers significant opportunities for enhancing facility management (FM) in campus environments. However, existing research often focuses narrowly on isolated domains, such as point-cloud geometry or energy analytics,…
We introduce real-is-sim, a new approach to integrating simulation into behavior cloning pipelines. In contrast to real-only methods, which lack the ability to safely test policies before deployment, and sim-to-real methods, which require…
Engineering regulatory compliance in complex Cyber-Physical Systems (CPS), such as smart warehouse logistics, is challenging due to the open and dynamic nature of these systems, scales, and unpredictable modes of human-robot interactions…
Construction safety inspection remains mostly manual, and automated approaches still rely on task-specific datasets that are hard to maintain in fast-changing construction environments due to frequent retraining. Meanwhile, field inspection…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Though construction robots have drawn attention in research and practice for decades, human-robot collaboration (HRC) remains important to conduct complex construction tasks. Considering its complexity and uniqueness, it is still unclear…
Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and…
Digital Twin technology is playing a pivotal role in the modern industrial evolution. Especially, with the technological progress in the Internet-of-Things (IoT) and the increasing trend in autonomy, multi-sensor equipped robotics can…
In order to improve the task execution capability of home service robot, and to cope with the problem that purely physical robot platforms cannot sense the environment and make decisions online, a method for building digital twin system for…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…
Although digital twins have recently emerged as a clear alternative for reliable asset representations, most of the solutions and tools available for the development of digital twins are tailored to specific environments. Furthermore,…
A review of scientific papers has shown that digital twins are very common for modeling the states of physical objects. It is relevant to consider the creation of a digital twin of an enterprise to obtain various assessments in management,…