相关论文: DoorBot: Closed-Loop Task Planning and Manipulatio…
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…
The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…
Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with…
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Autonomous robot navigation and manipulation in open environments require reasoning and replanning with closed-loop feedback. In this work, we present COME-robot, the first closed-loop robotic system utilizing the GPT-4V vision-language…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
Robots can use auditory, visual, or haptic interfaces to convey information to human users. The way these interfaces select signals is typically pre-defined by the designer: for instance, a haptic wristband might vibrate when the robot is…
This article proposes a hierarchical learning architecture for safe data-driven control in unknown environments. We consider a constrained nonlinear dynamical system and assume the availability of state-input trajectories solving control…
Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Advances in robotics have been driving the development of human-robot interaction (HRI) technologies. However, accurately perceiving human actions and achieving adaptive control remains a challenge in facilitating seamless coordination…
We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…