7 accepted papers
We focus on multi-object rearrangement planning in densely cluttered environments using a car-like robot pusher. The combination of kinematic, geometric and physics constraints underlying this domain results in challenging <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://ww
Social robot navigation algorithms are often demonstrated in overly simplified scenarios, prohibiting the extraction of practical insights about their relevance to real-world domains. Our key insight is that an understanding of the inherent complexity of a social robot navigation scenario could help
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on rearrangement planning often relaxes some of these constraints by assum
We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control or deep architectures for high-fidelity human motion predict
We present a novel, data-driven framework for planning socially competent robot behaviors in crowded environments. The core of our approach is a topological model of collective navigation behaviors, based on braid groups. This model constitutes the basis for the design of a human-inspired probabilis…
In this paper we present an open-source design for the development of low-complexity, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism. The differential mechanism used is a variation of the whiffletree (or seesaw) mechanism, which introduces a set of lock…
In this paper we introduce an index for the quantification of anthropomorphism of robot arms. The index is defined as a weighted sum of specific metrics which evaluate the similarities between the human and robot arm workspaces, providing a normalized score between 0 (non-anthropomorphic artifacts)…