相关论文: Towards Optimized Parallel Robots for Human-Robot …

Applying Deep Reinforcement Learning (DRL) to Human-Robot Cooperation (HRC) in dynamic control problems is promising yet challenging as the robot needs to learn the dynamics of the controlled system and dynamics of the human partner. In…

The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for…

This work demonstrates universal dynamic perching capabilities for quadrotors of various sizes and on surfaces with different orientations. By employing a non-dimensionalization framework and deep reinforcement learning, we systematically…

Team Coordination on Graphs with Risky Edges (\textsc{tcgre}) is a recently proposed problem, in which robots find paths to their goals while considering possible coordination to reduce overall team cost. However, \textsc{tcgre} assumes…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization…

Environments with large terrain height variations present great challenges for legged robot locomotion. Drawing inspiration from fire ants' collective assembly behavior, we study strategies that can enable two ``connectable'' robots to…

Robots are increasingly working alongside people, delivering food to patrons in restaurants or helping workers on assembly lines. These scenarios often involve object handovers between the person and the robot. To achieve safe and efficient…

Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…

This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…

This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically…

Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…

Multi-robot systems (MRSs) are valuable for tasks such as search and rescue due to their ability to coordinate over shared observations. A central challenge in these systems is aligning independently collected perception data across space…

We study last-mile delivery problems where trucks and drones collaborate to deliver goods to final customers. In particular, we focus on problem settings where either a single truck or a fleet with several homogeneous trucks work in…

Humans are considered as integral components of Human-Robot Collaboration (HRC) systems, not only as object (e.g. in health care), but also as operators and service providers in manufacturing. Sophisticated and complex tasks are to be…

An important real-world application of multi-robot systems is multi-robot patrolling (MRP), where robots must carry out the activity of going through an area at regular intervals. Motivations for MRP include the detection of anomalies that…

In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…

Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…

Successful entrainment during collaboration positively affects trust, willingness to collaborate, and likeability towards collaborators. In this paper, we present a mixed-method study to investigate characteristics of successful entrainment…

We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimately better performing their job. The Extra Robotic Legs…