7 accepted papers
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http:/
Cooperative robots or “cobots” promise to allow humans and robots to work together more closely while maintaining safety. However, to date the capabilities of cobots are greatly diminished compared to industrial robots in terms of the force and power they are able to safely produce. This is in part
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and cognitive abilities as part of a shared autonomy policy. Howeve
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a range of task variables (e.g., spinning speed of a tool, appli
This letter introduces a method for recognizing geometric constraints from human demonstrations using both position and force measurements. Our key idea is that position information alone is insufficient to determine that a constraint is active and reaction forces must also be considered to correctl
Localization of steerable catheters in minimally invasive surgery is critical with respect to patient safety, surgeon manipulation, and procedural efficacy. While there are many potential benefits to patients including shorter recovery times, less tissue trauma, and lower infection rates than tradit…
Tendon driven continuum robots have attracted a significant amount of attention in the last decade. As a result several discrete and continuous modeling approaches have been explored in order to understand their behavior. The following article proposes an analytical model describing the influence of…