相关论文: In Time and Space: Towards Usable Adaptive Control…

Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to…

Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…

The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…

Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…

While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…

Embedded systems are becoming more in demand to work in dynamic and uncertain environments, and being confined to the strong requirements of real-time. Conventional static scheduling models usually cannot cope with runtime modification in…

This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-environment interaction to address diverse…

Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…

Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

Assistive robotic arms often have more degrees-of-freedom than a human teleoperator can control with a low-dimensional input, like a joystick. To overcome this challenge, existing approaches use data-driven methods to learn a mapping from…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…

With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their…

Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Shared control in assistive robotics blends human autonomy with computer assistance, thus simplifying complex tasks for individuals with physical impairments. This study assesses an adaptive Degrees of Freedom control method specifically…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…

This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…