Research
Research
Research
Research
183+ open-access research outputs.
Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely studied, emergency st…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the compl…
ARES OS 2.0 (hereinafter ARES OS) is an open-source software suite to enable laboratory automation and closed-loop autonomous experimentation. Its function is to orchestrate experimental actions and d…
This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level co…
In human-robot collaboration, a robot's expression of hesitancy is a critical factor that shapes human coordination strategies, attention allocation, and safety-related judgments. However, designing h…
Autonomous robot-assisted surgery demands reliable, high-precision platforms that strictly adhere to the safety and kinematic constraints of minimally invasive procedures. Existing research platforms,…
Accurate overland runoff and infiltration predictions are critical for effective water resources management, in particular for urban flood management. However, the inherent uncertainty in rainfall pat…
Quadruped robots are increasingly deployed in unstructured environments. Safe locomotion in these settings requires long-horizon goal progress, passability over uneven terrain and static constraints, …
Passive dynamic walkers are widely adopted as a mathematical model to represent biped walking. The stable locomotion of these models is limited to tilted surfaces, requiring gravitational energy. Vari…
This article describes GAZELOAD, a multimodal dataset for mental workload estimation in industrial human-robot collaboration. The data were collected in a laboratory assembly testbed where 26 particip…
Real-time robotic control demands fast action generation. However, existing generative policies based on diffusion and flow matching require multi-step sampling, fundamentally limiting deployment in…
This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, validate, and interpolate references from the control laws that track them. The design include…
Constructing an accurate simulation model of real-world environments requires reliable estimation of physical parameters such as mass, geometry, friction, and contact surfaces. Traditional real-to-sim…
Developing high-fidelity, interactive digital twins is crucial for enabling closed-loop motion planning and reliable real-world robot execution, which are essential to advancing sim-to-real transfer. …
In intelligent low-altitude networks, integrating monitoring tasks into communication unmanned aerial vehicles (UAVs) can consume resources and increase handoff latency for communication links. To add…
We present a novel geometric port-Hamiltonian formulation of redundant manipulators performing a differential kinematic task $\eta=J(q)\dot{q}$, where $q$ is a point on the configuration manifold, $\e…
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. …
Vision-Language Action (VLAs) models promise to extend the remarkable success of vision-language models (VLMs) to robotics. Yet, unlike VLMs in the vision-language domain, VLAs for robotics require fi…
Learning safe and stable robot motions from demonstrations remains a challenge, especially in complex, nonlinear tasks involving dynamic, obstacle-rich environments. In this paper, we propose Safe and…
Sim-to-real transfer remains a major challenge in reinforcement learning (RL) for robotics, as policies trained in simulation often fail to generalize to the real world due to discrepancies in environ…
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