Research
Research
Research
Research
73+ open-access research outputs.
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit a…
The potential of Animal-Robot Interaction (ARI) in welfare applications depends on how much an animal perceives a robotic agent as socially relevant, non-threatening and potentially attractive (accept…
Bin picking in real industrial environments remains challenging due to severe clutter, occlusions, and the high cost of traditional 3D sensing setups. We present Pickalo, a modular 6D pose-based bin-p…
We introduce a geometric method for online transfer identification of a deterministic linear time-invariant system. At the beginning of the identification process, we assume access to abundant data fr…
Olympic Taekwondo has faced challenges in spectator engagement due to static, defensive gameplay and contentious scoring. Current Protector and Scoring Systems (PSS) rely on impact sensors and simplis…
As large language models (LLMs) become high-privilege agents in risk-sensitive settings, they introduce systemic threats beyond hallucination, where minor compliance errors can cause critical data lea…
The development of athletic humanoid robots has gained significant attention as advances in actuation, sensing, and control enable increasingly dynamic, real-world capabilities. RoboCup, an internatio…
Semantic SLAM (Simultaneous Localization and Mapping) systems enrich robot maps with structural and semantic information, enabling robots to operate more effectively in complex environments. However, …
Purpose: To study the relationship between soccer heading and the risk of mild traumatic brain injury (mTBI), we previously developed an instrumented headband and data processing scheme to measure the…
Effective and efficient agricultural manipulation and harvesting depend on accurately understanding the current state of the grasp. The agricultural environment presents unique challenges due to its c…
The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers a scalable approach…
We introduce an adjoint-based aerodynamic shape optimization framework that integrates a diffusion model trained on existing designs to learn a smooth manifold of aerodynamically viable shapes. This m…
This work demonstrates how autonomously learning aspects of robotic operation from sparsely-labeled, real-world data of deployed, engineered solutions at industrial scale can provide with solutions th…
Warehouse automation plays a pivotal role in enhancing operational efficiency, minimizing costs, and improving resilience to workforce variability. While prior research has demonstrated the potential …
Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA s…
How do humans move? Advances in reinforcement learning (RL) have produced impressive results in capturing human motion using physics-based humanoid control. However, torque-controlled humanoids fail t…
The artificial lateral line (ALL) is a bioinspired flow sensing system for underwater robots, comprising of distributed flow sensors. The ALL has been successfully applied to detect the undulatory flo…
This paper investigates the optimal infrastructure planning and order assignment problem of an on-demand food-delivery platform with a mixed fleet of drones and human couriers. The platform has two de…
We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where…
We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equations of motion with c…
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