Safety Issues in Human-Robot Interactions

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The robotic manipulation of deformable linear objects is a frontier problem with many potential applications in diverse industries. However, most existing research in this area focuses on shape control for a provided explicit goal and does not consider phy ...

Here, we introduce a design, fabrication, and control methodology for large amplitude torsional microactuators powered by ultrasound. The microactuators are 3D printed from two polymers with drastically different elastic moduli as a monolithic compliant me ...

Please note that this dataset corresponds to the training data used in "Social robots as skilled ignorant peers for supporting learning "[7]. This (second) version of the dataset additionally includes labels (PE score and cluster labels for each datapoint) ...

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

Soft robots are being increasingly developed and deployed for underwater applications such as exploration, monitoring, and rescue owing to their innate compliance, mechanical and chemical stability, and waterproof properties. However, they are still predom ...

Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a pl ...

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

There is a growing trend towards designing learning activities featuring robots as collaborative exercises where children work together to achieve the activity objectives, generating interactions that can trigger learning processes. Witnessing such activit ...

Quadratic Programming (QP)-based controllers allow many robotic systems, such as humanoids, to successfully undertake complex motions and interactions. However, these approaches rely heavily on adequately capturing the underlying model of the environment a ...

As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...

Order, regularities, and patterns are ubiquitous around us. A flock of birds maneuvering in the sky, the self-organization of social insects, a global pandemic or a traffic jam are examples of complex systems where the macroscopic patterns arise from the m ...

Gender inequality is a widespread problem in our society. It can manifest itself in many ways and contexts, and starting as early as primary school. While an increasing number of initiatives aim at tackling gender biases and inequalities, few of them are a ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

Safety Issues in Human-Robot Interactions

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Rearranging Deformable Linear Objects for Implicit Goals with Self-Supervised Planning and Control

3D printed large amplitude torsional microactuators powered by ultrasound

PE-HRI-temporal: A Multimodal Temporal Dataset in a robot mediated Collaborative Educational Setting

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Edible Soft Actuators based on Konjac Glucomannan for Underwater Operation

Soft robotics for farm to fork: applications in agriculture & farming

Educational Soft Underwater Robot with an Electromagnetic Actuation

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Avian-Inspired Claws Enable Robot Perching or Walking

Geometric Learning: Leveraging differential geometry for learning and control

Computational Models of Mutual Understanding for Human-Robot Collaborative Learning

Self-Correcting Quadratic Programming-Based Robot Control

Challenges and approaches in bridging the biomimicry gap in biohybrid systems of fish and robots

Human-Robot Swarm Interaction: An Explorative Path to Foster Complex Systems Understanding

Participatory design of a social robot and robot-mediated storytelling activity to raise awareness of gender inequality among children

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

Exploration-based model learning with self-attention for risk-sensitive robot control