6 accepted papers
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion–design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the vast, unstructured design space and (ii) the difficulty of con…
A hybrid system combining rigid and soft robots (e.g., soft fingers attached to a rigid arm) ensures safe and dexterous interaction with humans. Nevertheless, modeling complex movements involving both soft and rigid robots presents a challenge. Additionally, the difficulty of obtaining large dataset
This letter presents the design and development of an innovative interactive robotic system to enhance audience engagement using character-like personas. Built upon the foundations of persona-driven dialog agents, this work extends the agent's application to the physical realm, employing robots to p
Programming manipulation behaviors can become increasingly difficult with a growing number and complexity of manipulation tasks, particularly in a dynamic and unstructured environment. Recent progress in unsupervised skill discovery algorithms has shown great promise in learning an extensive collect…
With recent advances in rapid prototyping and mechatronics, the problem of simultaneous design and motion optimization, or the co-design problem, is becoming more and more relevant in robotics. For reasons of computational tractability, all existing methods use simplified approximations of a robot’s
Existing adaptive robot control laws typically require an engineering choice of a constant adaptation gain matrix, which often involves repeated and time-consuming trial and error. Moreover, physical consistency of the estimated inertial parameters or the uniform positive definiteness of the estimat…