相关论文: Tangles: Unpacking Extended Collision Experiences …

As robots enter the messy human world so the vital matter of safety takes on a fresh complexion with physical contact becoming inevitable and even desirable. We report on an artistic-exploration of how dancers, working as part of a…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…

Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…

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…

Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…

Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…

The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…

Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…

Intentional or unintentional contacts are bound to occur increasingly more often due to the deployment of autonomous systems in human environments. In this paper, we devise methods to computationally predict imminent collisions between…

This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…

Traditional approaches to human-robot interaction design typically examine robot behaviors in controlled environments and narrow tasks. These methods are impractical for designing robots that interact with diverse user groups in complex…

This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…

Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

With more robots being deployed in the world, users will likely interact with multiple robots sequentially when receiving services. In this paper, we describe an exploratory field study in which unsuspecting participants experienced a…

In this article we consider the problem of tether entanglement for tethered mobile robots. One of the main risks of using a tethered connection between a mobile robot and an anchor point is that the tether may get entangled with the…

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…