Simulation-aided Learning from Demonstration for Robotic LEGO Construction - 2023-09-20 - Research Publication - To address the challenges, this paper presents a simulation-aided learning from demonstration (SaLfD) framework for easily deploying LEGO prototyping capability to robots. The proposed system is deployed to a FANUC LR-mate… - source: arxiv.org
A Lightweight and Transferable Design for Robust LEGO Manipulation - 2023-09-05 - Research Publication - The work co-designs a custom end-of-arm tool and an evolution-strategy optimizer for precise robotic LEGO manipulation. The system reaches a reported 100 percent manipulation success rate after safely optimizing robot… - source: arxiv.org
Customizing Textile and Tactile Skins for Interactive Industrial Robots - 2023-08-06 - Research Publication - Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. The novel automated skin calibration procedure maps skin locations to robot geometry and… - source: arxiv.org
Robotic LEGO Assembly and Disassembly from Human Demonstration - 2023-05-25 - Research Publication - To satisfy individual needs and self-sustainability, this paper presents a framework that learns the assembly and disassembly sequences from human demonstrations. The proposed system is deployed to a FANUC LR-mate 200id/7L… - source: arxiv.org
Task-Agnostic Adaptation for Safe Human-Robot Handover - 2022-09-20 - Research Publication - The controller adapts human-robot handover behavior across lighting conditions, individual human behavior and robot platforms with different control interfaces. Physical tests use both the FANUC LR Mate 200iD/7L and Kinova… - source: arxiv.org
Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm - 2022-04-06 - Research Publication - The issue arises from two limitations in existing control software for industrial robots: 1) lack of support for real-time trajectory modification; 2) lack of intelligent safe control algorithms with guaranteed collision… - source: arxiv.org
Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks - 2021-02-13 - Research Publication - Although many approaches based on deep reinforcement learning (RL) and learning from demonstration (LfD) have been proposed to obtain variable impedance skills on contact-rich manipulation tasks, these skills are typically… - source: arxiv.org