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09/18/2023
A Concise Overview of Safety Aspects in Human-Robot Interaction
As of today, robots exhibit impressive agility but also pose potential h...
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09/14/2023
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Elastic actuation taps into elastic elements' energy storage for dynamic...
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09/13/2023
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles
One of the most important aspects of autonomous systems is safety. This ...
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07/19/2023
Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures
Studying the manipulation of deformable linear objects has significant p...
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06/26/2023
Towards Language-Based Modulation of Assistive Robots through Multimodal Models
In the field of Geriatronics, enabling effective and transparent communi...
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06/10/2023
Fast yet predictable braking manoeuvers for real-time robot control
This paper proposes a framework for generating fast, smooth and predicta...
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06/10/2023
Learning optimal controllers: a dynamical motion primitive approach
Real-time computation of optimal control is a challenging problem and, t...
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02/07/2023
Dual-Material 3D-Printed PaCoMe-Like Fingers for Flexible Biolaboratory Automation
Robotic automation in life science research is a paradigm that has gaine...
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12/30/2022
BSA – Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
Compliance in actuation has been exploited to generate highly dynamic ma...
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12/12/2022
Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators
In this paper a global reactive motion planning framework for robotic ma...
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10/28/2022
Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence
Recently, many reactive trajectory planning approaches were suggested in...
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10/23/2022
A Solution to Slosh-free Robot Trajectory Optimization
This paper is about fast slosh free fluid transportation. Existing appro...
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10/18/2022
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics
The number of sequential tasks a single gripper can perform is significa...
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08/16/2022
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
Manipulability ellipsoids efficiently capture the human pose and reveal ...
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08/04/2022
LaTTe: Language Trajectory TransformEr
Natural language is one of the most intuitive ways to express human inte...
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03/25/2022
Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers
Natural language is the most intuitive medium for us to interact with ot...
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03/20/2022
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees
As collaborative robots move closer to human environments, motion genera...
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03/05/2022
ISO/TS 15066: How Different Interpretations Affect Risk Assessment
The current technical specification ISO/TS15066:2016(E) for safe human-r...
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01/24/2022
Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard
In this work we present a platform to assess robot platform skills using...
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10/19/2021
Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space
Intelligent agents must be able to think fast and slow to perform elabor...
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09/15/2021
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction
In robotics, many control and planning schemes have been developed that ...
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05/30/2021
SyReNets: Symbolic Residual Neural Networks
Despite successful seminal works on passive systems in the literature, l...
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10/30/2020
Learning Vision-based Reactive Policies for Obstacle Avoidance
In this paper, we address the problem of vision-based obstacle avoidance...
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10/25/2020
How to Make Deep RL Work in Practice
In recent years, challenging control problems became solvable with deep ...
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07/21/2019
Tracking Holistic Object Representations
Recent advances in visual tracking are based on siamese feature extracto...
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10/30/2018
Simultaneous Contact and Aerodynamic Force Estimation (s-CAFE) for Aerial Robots
In this paper, we consider the problem of multirotor flying robots physi...
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05/22/2018