相关论文: b-it-bots RoboCup@Work Team Description Paper 2023
The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…
Training generalist agents capable of solving diverse tasks is challenging, often requiring large datasets of expert demonstrations. This is particularly problematic in robotics, where each data point requires physical execution of actions…
Developing robotic algorithms and integrating a robotic subsystem into a larger system can be a difficult task. Particularly in small and medium-sized enterprises (SMEs) where robotics expertise is lacking, implementing, maintaining and…
As robot systems become more ubiquitous, developing understandable robot systems becomes increasingly important in order to build trust. In this paper, we present an approach to developing a holistic robot explanation system, which consists…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
In this paper, we present a cyber-physical testbed created to enable a human-robot team to perform a shared task in a shared workspace. The testbed is suitable for the implementation of a tabletop manipulation task, a common human-robot…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with…
Selecting an optimal robot, its base pose, and trajectory for a given task is currently mainly done by human expertise or trial and error. To evaluate automatic approaches to this combined optimization problem, we introduce a benchmark…
The object perception capabilities of humans are impressive, and this becomes even more evident when trying to develop solutions with a similar proficiency in autonomous robots. While there have been notable advancements in the technologies…
The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots are an important tangible technology for implementing such a…
In this work we present a platform to assess robot platform skills using an internet-of-things (IoT) task board device to aggregate performances across remote sites. We demonstrate a concept for a modular, scale-able device and web…
The rapid advancement of Vision-Language-Action models has created an urgent need for large-scale, high-quality robot demonstration datasets. Although teleoperation is the predominant method for data collection, current approaches suffer…
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus…
With the increase in the availability of Building Information Models (BIM) and (semi-) automatic tools to generate BIM from point clouds, we propose a world model architecture and algorithms to allow the use of the semantic and geometric…
Scientific workflows facilitate computational, data manipulation, and sometimes visualization steps for scientific data analysis. They are vital for reproducing and validating experiments, usually involving computational steps in scientific…
Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limitations of traditional robot designs, which are often forced…