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Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast production constraints. To help address this challenge, we present PRO-
Externí odkaz:
http://arxiv.org/abs/2409.06864
Publikováno v:
IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5631-5638, June 2024
Reinforcement learning (RL) has emerged as a promising paradigm in complex and continuous robotic tasks, however, safe exploration has been one of the main challenges, especially in contact-rich manipulation tasks in unstructured environments. Focusi
Externí odkaz:
http://arxiv.org/abs/2406.13744
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attach
Externí odkaz:
http://arxiv.org/abs/2406.02171
Autor:
Fortuna, A., Lorenzini, M., Leonori, M., Gandarias, JM., Balatti, P., Cho, Y., De Momi, E., Ajoudani, A.
Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide sufficient support to users' stability or too bulky and poorly maneuvera
Externí odkaz:
http://arxiv.org/abs/2405.04359
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying physical p
Externí odkaz:
http://arxiv.org/abs/2403.09305
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots capable of per
Externí odkaz:
http://arxiv.org/abs/2402.13915
Autor:
Rollo, Federico, Raiola, Gennaro, Tsagarakis, Nikolaos, Roveri, Marco, Hoffman, Enrico Mingo, Ajoudani, Arash
Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical task for Huma
Externí odkaz:
http://arxiv.org/abs/2312.14487
Autor:
Rollo, Federico, Zunino, Andrea, Raiola, Gennaro, Amadio, Fabio, Ajoudani, Arash, Tsagarakis, Nikolaos
Human-robot interaction (HRI) has become a crucial enabler in houses and industries for facilitating operational flexibility. When it comes to mobile collaborative robots, this flexibility can be further increased due to the autonomous mobility and n
Externí odkaz:
http://arxiv.org/abs/2311.12992
Autor:
Rollo, Federico, Zunino, Andrea, Tsagarakis, Nikolaos, Hoffman, Enrico Mingo, Ajoudani, Arash
In today's Human-Robot Interaction (HRI) scenarios, a prevailing tendency exists to assume that the robot shall cooperate with the closest individual or that the scene involves merely a singular human actor. However, in realistic scenarios, such as s
Externí odkaz:
http://arxiv.org/abs/2310.19413
Autor:
Balatti, Pietro, Ozdamar, Idil, Sirintuna, Doganay, Fortini, Luca, Leonori, Mattia, Gandarias, Juan M., Ajoudani, Arash
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who ge
Externí odkaz:
http://arxiv.org/abs/2310.14705