相关论文: Hefty: A Modular Reconfigurable Robot for Advancin…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile…
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…
The intrinsic modularity and reconfigurability of modular reconfigurable robots (MRR) confer advantages such as versatility, fault tolerance, and economic efficacy, thereby showcasing considerable potential across diverse applications. The…
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations,…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
The Pepper robot has become a widely recognised face for the perceived potential of social robots to enter our homes and businesses. However, to date, commercial and research applications of the Pepper have been largely restricted to roles…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…
Conventional formation methods typically rely on fixed hierarchical structures, such as predetermined leaders or predefined formation shapes. These rigid hierarchies can render formations cumbersome and inflexible in complex environments,…
Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a…
Human-Robot Teams offer the flexibility needed for partial automation in small and medium-sized enterprises (SMEs). They will thus be an integral part of Factories of the Future. Our research targets a particularly flexible teaming mode,…
Advances in robotic automation, high-performance computing (HPC), and artificial intelligence (AI) encourage us to conceive of science factories: large, general-purpose computation- and AI-enabled self-driving laboratories (SDLs) with the…
With advancement of robotics and artificial intelligence, applications for robotics are flourishing. Human-robot interaction (HRI) is an important area of robotics as it allows robots to work closer to humans (with them or for them). One…
With the increasing complexity of modern industrial automatic and robotic systems, an increasing burden is put on the operators, who are requested to supervise and interact with very complex systems, typically under challenging and…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
This paper introduces the i-HY Hand, an underactuated hand driven by 5 actuators that is capable of performing a wide range of grasping and in-hand manipulation tasks. This hand was designed to address the need for a durable, inexpensive,…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…