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Controlling the physical interaction with the environment or objects, as humans do, is a shared requirement across different types of robots. To effectively control this interaction, it is necessary to control the power delivered to the…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact…

This paper proposes a probabilistic model for uncontrolled charging of electric vehicles (EVs). EV charging will add significant load to power systems in the coming years and, due to the convenience of charging at home, this is likely to…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

The proliferation of electric vehicles has spurred the research interest in technologies associated with it, for instance, batteries, and charging mechanisms. Moreover, the recent advancements in autonomous cars also encourage the enabling…

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…

Autonomous vehicles are more likely to be accepted if they drive accurately, comfortably, but also similar to how human drivers would. This is especially true when autonomous and human-driven vehicles need to share the same road. The main…

Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…

Adhering to current HRI paradigms, all of the sensors, visualisation and legibility of actions and motions are borne by the robot or its working cell. This necessarily makes robots more complex or confines them into specialised, structured…

Electric Vehicles (EVs) are rapidly gaining adoption as a sustainable alternative to fuel-powered vehicles, making secure charging infrastructure essential. Despite traditional authentication protocols, recent results showed that attackers…

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…

Electric Vehicle (EV) is playing a significant role in the distribution energy management systems since the power consumption level of the EVs is much higher than the other regular home appliances. The randomness of the EV driver behaviors…

The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…

Future operating theatres will be equipped with robots to perform various surgical tasks including, for example, endoscope control. Human-in-the-loop supervisory control architectures where the surgeon selects from several autonomous…

In this article, we present a feedback control method for tactile coverage tasks, such as cleaning or surface inspection. These tasks are challenging to plan due to complex continuous physical interactions. In these tasks, the coverage…