相关论文: Towards Human-Centered Construction Robotics: A Re…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…
Humans have developed the capability to teach relevant aspects of new or adapted tasks to a social peer with very few task demonstrations by making use of scaffolding strategies that leverage prior knowledge and importantly prior joint…
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…
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
As robotic products become more integrated into daily life, there is a greater need to understand authentic and real-world human-robot interactions to inform product design. Across many domestic, educational, and public settings, robots…
A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
Pointing is a key mode of interaction with robots, yet most prior work has focused on recognition rather than generation. We present a motion capture dataset of human pointing gestures covering diverse styles, handedness, and spatial…
Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…
Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
Robots can serve as safety catalysts on construction job sites by taking over hazardous and repetitive tasks while alleviating the risks associated with existing manual workflows. Research on the safety of physical human-robot interaction…
The role of robots is expanding from tool to collaborator. Socially assistive robots (SARs) are an example of collaborative robots that assist humans in the real world. As robots enter our social sphere, unforeseen risks occur during…
Robots are increasingly present in human spaces, such as for conducting deliveries in hospitals, interacting with visitors at museums, and stocking items in warehouses. To ensure the seamless integration of robots into these spaces, a new…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…