相关论文: Towards Senior-Robot Interaction: Reactive Robot D…

This position paper is part of a long-term research project on human-machine co-creativity with older adults. The goal is to investigate how robots and AI-generated content can contribute to older adults' creative experiences, with a focus…

Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…

Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…

Understanding and respecting personal space preferences is essential for socially assistive robots designed for older adult users. This work introduces and evaluates a novel personalized context-aware method for modeling users' proxemics…

This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…

High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system…

This paper explores the principles for transforming a quadrupedal robot into a guide robot for individuals with visual impairments. A guide robot has great potential to resolve the limited availability of guide animals that are accessible…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

The deployment of social robots in real-world scenarios is increasing, supporting humans in various contexts. However, they still struggle to grasp social dynamics, especially in public spaces, sometimes resulting in violations of social…

This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…

Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…

Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…

We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…

This study demonstrates how anticipated and actual interactions shape the QE of SARs among older adults. The study consisted of two parts: an online survey to explore the anticipated interaction through video viewing of a SAR and an…

Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks…

A robot needs contextual awareness, effective speech production and complementing non-verbal gestures for successful communication in society. In this paper, we present our end-to-end system that tries to enhance the effectiveness of…

Group processes refer to the dynamics that occur within a group and are critical for understanding how groups function. With robots being increasingly placed within small groups, improving these processes has emerged as an important…

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…

In providing physical assistance to elderly people, ensuring cooperative behavior from the elderly persons is a critical requirement. In sit-to-stand assistance, for example, an older adult must lean forward, so that the body mass can shift…

The end-user programming of social robot behavior is usually limited by a predefined set of movements. We are proposing a puppeteering robotic interface that provides a more intuitive method of programming robot expressive movements. As the…