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Collision avoidance, in particular between robots, is an important component for autonomous robots. It is a necessary component in numerous applications such as human-robot interaction, automotive or unmanned aerial vehicles. While many collision avoidance ...
Measuring ``how much the human is in the interaction'' -- the level of engagement -- is instrumental in building effective interactive robots. Engagement, however, is a complex, multi-faceted cognitive mechanism that is only indirectly observable. This art ...
This paper studies existing direct transcription methods for trajectory optimization for robot motion planning. These methods have demonstrated to be favorable for planning dynamically feasible motions for high dimensional robots with complex dynamics. How ...
Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...
Human-Robot interaction is an area full of challenges for artificial intelligence: dynamic, partially unknown environments that are not originally designed for autonomous machines; a large variety of situations and objects to deal with, with possibly compl ...
This book is open access under a CC BY 4.0 license. This book bridges the gap between playing with robots in school and studying robotics at the upper undergraduate and graduate levels to prepare for careers in industry and research. Robotic algorithms are ...
Measuring "how much the human is in the interaction" - the level of engagement - is instrumental in building effective interactive robots. Engagement, however, is a complex, multi-faceted cognitive mechanism that is only indirectly observable. This article ...
In nature, manipulators have evolved into different morphologies with varying rigidity to accomplish different tasks. Soft and continuum tentacles of the octopus, rigid and strong pincers of the crab and ligamentous jointed fingers of the human demonstrate ...
Compliance has become a key requirement for robots meant to interact with humans. It is viewed as a necessary property to increase safety and efficiency in human-robot cooperative actions. In humans, compliance takes three dimensions: mechanical, cognitive ...
Quadrupedal robots have been a field of interest the last few years, with many new maturing platforms. Many of these projects have in common the use of state of the art actuation and sensing, and therefore are able to handle difficult locomotion tasks very ...
