Neuromuscular model achieving speed control and steering with a 3D bipedal walker
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Just as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based ...
Human-robot collaboration seeks to have humans and robots closely interacting in everyday situations. For some tasks, physical contact between the user and the robot may occur, originating significant challenges at safety, cognition, perception and control ...
Physical interaction between humans and robots arises a large set of challenging problems involving hardware, safety, control and cognitive aspects, among others. In this context, the cooperative (two or more people/robots) transportation of bulky loads in ...
In current robotics research there is a vast body of work on algorithms and control methods for groups of decentralized cooperating robots, called a swarm or collective. These algorithms are generally meant to control collectives of hundreds or even thousa ...
A major issue in the field of human-robot interaction for assistance to manipulation is transparency. This basic feature qualifies the capacity for a robot to follow human movements without any human-perceptible resistive forces. In this paper we address t ...
Simulation in robotics is often a love-hate relationship: while simulators do save us a lot of time and effort compared to regular deployment of complex software architectures on complex hardware, simulators are also known to evade many (if not most) of th ...
In this paper we focus on human-robot interaction particularities that occur during programming by demonstration. Understanding what makes the interaction rewarding and keeps the user engaged helps optimize the robot's learning. Two user studies are presen ...
We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...
This demo presents a miniature mobile robot performing autonomous construction in an environment where resources are limited. After an exploration phase, the robot builds a structure at a designated location according to an order from a human. Since local ...
For roughly two decades a new generation of robots, robotic prostheses and implantable devices is about to arise accompanied by great optimism that they will widely pervade our daily life in a near future. This paper presents the results from a survey on t ...
