相关论文: SPARK: Safe Protective and Assistive Robot Kit
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are known a priori, and thus, the robot can pre-compute a…
Recent advancements in whole-body control through deep reinforcement learning have enabled humanoid robots to achieve remarkable progress in real-world chal lenging locomotion skills. However, existing approaches often struggle with…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and…
The coordinated assurance of interrelated critical properties, such as system safety and cyber-security, is one of the toughest challenges in critical systems engineering. In this chapter, we summarise approaches to the coordinated…
This paper presents the design and performance of a screw-propelled redundant serpentine robot. This robot comprises serially linked, identical modules, each incorporating an Archimedes' screw for propulsion and a universal joint (U-Joint)…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
When AI interacts with the physical world -- as a robot or an assistive agent -- new safety challenges emerge beyond those of purely ``digital AI". In such interactions, the potential for physical harm is direct and immediate. How well do…
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…
The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specific interaction situation or implement hard switches between…
Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…
Channel state information (CSI) acquisition and feedback overhead grows with the number of antennas, users, and reported subbands. This growth becomes a bottleneck for many antenna and reconfigurable intelligent surface (RIS) systems as…
As social robots increasingly enter public environments, their acceptance depends not only on technical reliability but also on ethical integrity, accessibility, and user trust. This paper reports on a pilot deployment of an ARI social…
Adversarial attacks of deep neural networks have been intensively studied on image, audio, natural language, patch, and pixel classification tasks. Nevertheless, as a typical, while important real-world application, the adversarial attacks…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
This paper proposes the SPARK dataset as a new unique space object multi-modal image dataset. Image-based object recognition is an important component of Space Situational Awareness, especially for applications such as on-orbit servicing,…