相关论文: Cybathlon -- Legged Mobile Assistance for Quadripl…

Current research on collaborative robots (cobots) in physical rehabilitation largely focuses on repeated motion training for people undergoing physical therapy (PuPT), even though these sessions include phases that could benefit from…

COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…

Mobile manipulators in the home can enable people with cervical spinal cord injury (cSCI) to perform daily physical household tasks that they could not otherwise do themselves. However, paralysis in these users often limits access to…

To facilitate the advancement of research in healthcare robots without human intervention or commands, we introduce the Autonomous Helping Challenge, along with a crowd-sourcing large-scale dataset. The goal is to create healthcare robots…

We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The robot is mostly soft (80 vol.%) while driven by four geared servo motors. The robot's soft body and…

DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans (i.e., in-the-wild). We adopt the paradigm of training policies in…

Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot's inherent body parts or incorporate top-mounted arms for manipulation…

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,…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

Exoskeletons are a promising technology that enables individuals with mobility limitations to walk again. As the 2016 Cybathlon illustrated, however, the community has a considerable way to go before exoskeletons have the necessary…

Robotic guide dogs hold significant potential to enhance the autonomy and mobility of blind or visually impaired (BVI) individuals by offering universal assistance over unstructured terrains at affordable costs. However, the design of…

This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…

Seeing-eye robots are very useful tools for guiding visually impaired people, potentially producing a huge societal impact given the low availability and high cost of real guide dogs. Although a few seeing-eye robot systems have already…

Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…

Meal preparation is an important instrumental activity of daily living~(IADL). While existing research has explored robotic assistance in meal preparation tasks such as cutting and cooking, the crucial task of peeling has received less…

Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…

Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability…

As intelligent agents transition from controlled to uncontrolled environments, they face challenges that sometimes exceed their operational capabilities. In many scenarios, they rely on assistance from bystanders to overcome those…

This article explores assistive devices for upper limb movement in people with disabilities through a systematic review based on the PRISMA methodology. The studied devices encompass technologies ranging from orthoses to advanced robotics,…

Modern robotic systems are endowed with superior mobility and mechanical skills that make them suited to be employed in real-world scenarios, where interactions with heavy objects and precise manipulation capabilities are required. For…