相关论文: PAPRLE (Plug-And-Play Robotic Limb Environment): A…

Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…

Age-related loss of mobility and increased risk of falling remain important obstacles toward facilitating aging-in-place. Many elderly people lack the coordination and strength necessary to perform common movements around their home, such…

In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…

Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…

We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…

With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving…

While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…

Learning to operate a vehicle is generally accomplished by forming a new cognitive map between the body motions and extrapersonal space. Here, we consider the challenge of remapping movement-to-space representations in survivors of spinal…

Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…

Certain forms of uncertainty that robotic systems encounter can be explicitly learned within the context of a known model, like parametric model uncertainties such as mass and moments of inertia. Quantifying such parametric uncertainty is…

Robotic manipulation in unstructured, humancentric environments poses a dual challenge: achieving the precision need for delicate free-space operation while ensuring safety during unexpected contact events. Traditional wrists struggle to…

Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…

The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…

This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…

To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered…

Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…

Supernumerary robotic limbs (SRLs) are robotic structures integrated closely with the user's body, which augment human physical capabilities and necessitate seamless, naturalistic human-machine interaction. For effective assistance in…

In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…