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. - source: arxiv.org
A Lightweight and Transferable Design for Robust LEGO Manipulation - 2023-09-05 - Research Publication - Lego is a well-known platform for prototyping pixelized objects. However, robotic Lego prototyping (i.e., manipulating Lego bricks) is challenging due to the tight connections and accuracy requirements. This paper… - 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. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on… - 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. - source: arxiv.org
Task-Agnostic Adaptation for Safe Human-Robot Handover - 2022-09-20 - Research Publication - Human-robot interaction (HRI) is an important component to improve the flexibility of modern production lines. However, in real-world applications, the task (\ie the conditions that the robot needs to operate on, such as… - source: arxiv.org
Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm - 2022-04-06 - Research Publication - The need to increase the flexibility of production lines is calling for robots to collaborate with human workers. However, existing interactive industrial robots only guarantee intrinsic safety (reduce collision impact)… - 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