Research
Research
Research
Research
46,809+ open-access research outputs.
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studie…
From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interacti…
This paper presents a novel concept for intuitive end-user programming of robots, inspired by natural interaction between humans. Natural language and supportive gestures are translated into robot pro…
Learning contact-rich manipulation is difficult from cameras and proprioception alone because contact events are only partially observed. We test whether training-time instrumentation, i.e., object se…
As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human…
We study local sensitivity of structured ARX-based data-driven predictive control. Although predictor estimation is linear in the ARX parameters, the lifted multi-step predictor used in MPC depends on…
This paper studies a feedback driven configuration tuning framework for adaptive sensing feedback in Integrated Sensing and Communication (ISAC) systems. We propose a framework in which the User Equip…
Precision Immobilization Technique (PIT) is a potentially effective intervention maneuver for emergency out-of-control vehicle, but its automation is challenged by highly nonlinear collision dynamics,…
Robotic and embodied-AI systems have the potential to improve accessibility and quality of care in clinical settings, but their deployment in close physical contact with vulnerable patients introduces…
We recently proposed a method called Material Fingerprinting for the rapid discovery of mechanical material models that avoids solving continuous optimization problems. Material Fingerprinting assumes…
Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the …
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for open-world robot manipulation, but their practical deployment is often constrained by cost: billion-scale VLM backbones and …
Beam prediction is critical for reducing beam-training overhead in millimeter-wave (mmWave) systems, especially in high-mobility vehicular scenarios. This paper presents a BEV-Fusion based framework t…
We propose a method for the collective maneuvering of affine formations in the plane by modifying the original weights of the Laplacian matrix used to achieve static formations of robot swarms. Specif…
Achieving robot transparency is a critical step toward effective human-robot collaboration. To be transparent, a robot's natural language communication must be consistent with its actions and explicit…
Video conferencing has become central to professional collaboration, yet most platforms offer limited support for deaf, hard-of-hearing, and multilingual users. The World Health Organisation estimates…
Prior studies on mixed near-field and far-field communications have focused exclusively on single-cell scenarios, where both near-field and far-field users are served by the same base station (BS), le…
We propose a multimodal deep learning model for VR auralization that generates spatial room impulse responses (SRIRs) in real time to reconstruct scene-specific auditory perception. Employing SRIRs as…
Smart glasses are becoming an increasingly prevalent wearable platform, with audio as a key interaction modality. However, hearing in noisy environments remains challenging because smart glasses are e…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capa…
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