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Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
In planning for future human space exploration, it is important to consider how to design for uplifting interpersonal communications and social dynamics among crew members. What if embodied social robots could help to improve the overall…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
Humans have exceptional tactile sensing capabilities, which they can leverage to solve challenging, partially observable tasks that cannot be solved from visual observation alone. Research in tactile sensing attempts to unlock this new…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
When we go for a walk with friends, we can observe an interesting effect: From step lengths to arm movements - our movements unconsciously align; they synchronize. Prior research found that this synchronization is a crucial aspect of human…
Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…
As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Natural and artificial self-propelled systems must manage environmental interactions during movement. Such interactions, which we refer to as active collisions, are fundamentally different from momentum-conserving interactions studied in…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…
Common methods for learning robot dynamics assume motion is continuous, causing unrealistic model predictions for systems undergoing discontinuous impact and stiction behavior. In this work, we resolve this conflict with a smooth, implicit…
In human-robot collaboration, unintentional physical contacts occur in the form of collisions and clamping, which must be detected and classified separately for a reaction. If certain collision or clamping situations are misclassified,…
In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…