相关论文: A ROS2 Interface for Universal Robots Collaborativ…
We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to deployable robot policies. UMI employs hand-held grippers…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present…
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state…
Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot programs using large language models (LLMs)…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features…
With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring…
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily…
Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified…
This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such…
Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…
Roborobo! is a multi-platform, highly portable, robot simulator for large-scale collective robotics experiments. Roborobo! is coded in C++, and follows the KISS guideline ("Keep it simple"). Therefore, its external dependency is solely…
Testing and evaluation of robotics systems is a difficult and oftentimes tedious task due to the systems' complexity and a lack of tools to conduct reproducible robotics experiments. Additionally, almost all available tools are either…
The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…
Recent Computer-Using Agents (CUAs), powered by multimodal large language models (LLMs), offer a promising direction for automating complex desktop workflows through natural language. However, most existing CUAs remain conceptual…