Top Research Papers on Robotics

Universal Manipulation Interface framework unlocks new robot manipulation capabilities, allowing zero-shot generalizable dynamic, bimanual, precise, and long-horizon behaviors, by only changing the training data for each task.

The distinctions between human beings and healthcare robots as partners and robot development examples and challenges are examined and it is stressed that technology and artificial intelligence are useful and practical for patients.

The control strategy combines model-based reactive control methods with an event-driven state machine encoding a human-inspired behavior during a handover task, which involves both linear and torsional loads, without requiring explicit learning from human demonstration.

This paper contributes to a taxonomy of augmented reality and robotics based on a survey of 460 research papers and formulate key challenges and opportunities to guide and inform future research in AR and robotics.

This work develops a reinforcement learning method inspired by direct collocation to generate parkour skills, including climbing over high obstacles, leaping over large gaps, crawling beneath low barriers, squeezing through thin slits, and running, and distill these skills into a single vision-based parkour policy and transfer it to a quadrupedal robot using its egocentric depth camera.

This work contributes to the critical study of the ongoing construction of "robot cultures" in Japan, and calls attention to public interactions with robots and the importance of contextual staging beyond individual robot features in human-robot interaction design.

This work proposes that robots should trust partners that tend to reduce their computational load, which is analogous to human cognitive load, and tests this idea by adopting an interactive visual recalling task.

The results demonstrate that OK-Robot achieves a 58.5% success rate in open-ended pick-and-drop tasks, representing a new state-of-the-art in Open Vocabulary Mobile Manipulation (OVMM) with nearly 1.8x the performance of prior work.

AR2-D2 is a framework in the form of an iOS app that people can use to record a video of themselves manipulating any object while simultaneously capturing essential data modalities for training a real robot, and shows that data collected via the system enables the training of behavior cloning agents in manipulating real objects.

A person-centered care approach is introduced which views couples with dementia as reciprocal carepartners, rather than as care-givers and care-receivers, and suggests slow communication as an important robot design feature.

The empirical findings supporting some of the claims about ERR are summarized and the research gaps in the claims that need to be supported by theoretical and pedagogical approaches are revealed.

This robot not only takes the commands and executes them but also acknowledges them through speech output, and can perform different movements, turns, wakeup/shutdown operations, relocate an object from one place to another, and can also develop a conversation with humans.

Herein, recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots are discussed. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, enabling currently unachievable tasks for medical, industrial, and service applications. The recent surge in research on these robots leads to significant advances in design, modeling, and control methods. Herein, these developments with a comprehensive review of existing continuum robots and emerging technologies are examined. Then, modeling and control ...

Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. Soft robots can handle delicate objects with care, access remote areas, and offer realistic feedback on their handling performance. However, increased dexterity and mechanical compliance of soft robots come with the need for accurate control of the position and shape of these robots. Therefore, soft robots must be equipped with sensors for better perception of their surroundings, location, force, temperature, shape, and other stimuli for effective usage. This review...

Design and Control of Intelligent Robotic SystemsRobotics, Vision and ControlModeling, Identification & Control of RobotsFeedback Control of Dynamic Bipedal Robot LocomotionModeling and Control of Vehicular and Robotic SystemsBioinspired Legged LocomotionModelling and Control of Mechatronic and Robotic SystemsModel-Based Control of a Robot ManipulatorThe Reaction Wheel PendulumControl of Robot Manipulators in Joint SpaceAdvanced Dynamics Modeling, Duality and Control of Robotic SystemsModeling and Control of a Tracked Mobile Robot for Pipeline InspectionAutonomous Robot-Aided Optical Manipulat...

The results indicate that a high level of warmth expressed by robot A vis-à-vis robot B boosted humans’ overall evaluations of A, and that this influence was mediated by the perceived humanness and the perceived happiness of A.

This work introduces Octo, a large transformer-based policy trained on 800k trajectories from the Open X-Embodiment dataset, the largest robot manipulation dataset to date, and demonstrates that Octo serves as a versatile policy initialization that can be effectively finetuned to new observation and action spaces.

■ INTRODUCTION The differences between built and biological machines are innumerable. For example, robots struggle to adapt to and engage with real-world environments, whereas living organisms effortlessly do so. Unlike the multifunctional behaviors of living organisms, robots’ capabilities possess limited versatility. Living organisms source energy from their environment, while robots face nontrivial power and computational challenges that complicate their remote deployment. The stark performance gap between living organisms and artificial machines arises from their bodies’ different material...

This article is a hands-on tutorial on the Franka Emika robot, the first series of industrial artificial intelligence (AI)-ready tactile robot platforms, and takes a close look at implementations with all interfaces, ranging from simple solutions, apps, and controllers to robot-learning examples illustrating how to exploit all the advantages of this platform in ongoing robotics research and education.

The social abilities of the IVO robot are described, which are intended to cooperate and work with humans in a useful and socially acceptable manner to serve as a research platform for long-term Social Human-Robot Interaction.

Smart sensing for rehabilitation using intelligent robotics technology

This work introduces Dobb-E, an affordable yet versatile general-purpose system for learning robotic manipulation within household settings, and opens-source the software stack and models, the data, and the hardware designs.

This paper shows how a single neural net policy operating directly from a camera image, trained in simulation with large-scale RL, can overcome imprecise sensing and actuation to output highly precise control behavior end-to-end.

This paper conducts a systematic literature review of robot autonomy in HRI and integrates this with the broader literature into a taxonomy of six distinct forms of autonomy: those based on robot and human involvement at runtime (operational autonomy, intentional autonomy, shared autonomy), human involvement before runtime (non-deterministic autonomy), and expressions of autonomy at runtime (cognitive autonomy, physical autonomy).

A new paradigm is introduced that harnesses the semantic richness of LLMs to define reward parameters that can be optimized and accomplish variety of robotic tasks, and can effectively bridge the gap between high-level language instructions or corrections to low-level robot actions.

It is argued that considering how robots and humans deal with novelty and solve open-ended tasks could help to understand better some aspects of the essence of creativity.

The SRMR functions of steering, separation, movement, tunneling, drug delivery, and recombination are validated in a mimetic vascular model with a pseudo blood clot and are successfully validated in an in vivo experiment of a mini pig's superficial femoral artery for contrast delivery, separation and movement.

The present document is a summary of the main societal opportunities identified, the associated challenges to deliver desired solutions and a presentation of efforts to be undertaken to ensure that US will be a leader in robotics both in terms of research innovation, adoption of the latest technology, and adoption of appropriate policy frameworks.

This paper presents an experimental study regarding the use of OpenAI’s ChatGPT for robotics applications. We outline a strategy that combines design principles for prompt engineering and the creation of a high-level function library which allows ChatGPT to adapt to different robotics tasks, simulators, and form factors. We focus our evaluations on the effectiveness of different prompt engineering techniques and dialog strategies towards the execution of various types of robotics tasks. We explore ChatGPT’s ability to use free-form dialog, parse XML tags, and to synthesize code, in addition to...

In conventional classification, soft robots feature mechanical compliance as the main distinguishing factor from traditional robots made of rigid materials. Recent advances in functional soft materials have facilitated the emergence of a new class of soft robots capable of tether-free actuation in response to external stimuli such as heat, light, solvent, or electric or magnetic field. Among the various types of stimuli-responsive materials, magnetic soft materials have shown remarkable progress in their design and fabrication, leading to the development of magnetic soft robots with unique adv...

Evolving robots from individuals to larger communities will be the next major transition in robotics.

The results demonstrate that OK-Robot achieves a 58.5% success rate in open-ended pick-and-drop tasks, representing a new state-of-the-art in Open Vocabulary Mobile Manipulation (OVMM) with nearly 1 .

An extensive overview of humanoid robot teleoperation is given, presenting the general architecture of a teleoperation system and analyzing the different components, and discussing different aspects of the topic, including technological and methodological advances, as well as potential applications.

We survey the current state of millimeter-wave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency modulated continuous wave mmWave radars operating in the 76–81 GHz range are an appealing alternative to lidars, cameras, and other sensors operating in the near-visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter, such as fog, dust, and smoke. We begin by covering radar...

A systematic review of the literature regarding empathy in interpersonal, virtual agents, and social robots research with inclusion criteria established a conceptual framework that illuminates critical components to consider when designing an empathic robot, including the empathy process, outcome, and the observer and target characteristics.

A new master-to-robot (M2R) policy transfer system that does not require robots for teaching force feedback-based manipulation tasks and can overcome domain gaps between the master and robot using gaze-based imitation learning and a simple calibration method is proposed.

ABSTRACT In this article, we contribute to robot geographies by developing the idea of robotic ‘liveliness’ in the context of their increased use during the COVID-19 pandemic. Our framing draws on new materialism, and builds the idea of liveliness by considering robots’ agential capacities in three different ways: as apparently autonomous technologies; as inorganic and mechanical bodies; and as perpetually unfinished and contingent things. We examine a range of examples of their deployment during the pandemic to speculate on the potential for robots to emerge as ‘caring subjects’ via this noti...

Progress in the burgeoning field of tensegrity robotics is reviewed, highlighting several emerging challenges, including automated design, state sensing, and kinodynamic motion planning.

This work will support the implementation of interruption-mitigation strategies on MTRs, enabling them to better support people in fast-paced, interruption-driven environments thus reducing the risk of errors in these situations.

The fictional dualism model of social robots provides a distinctive and ethically appropriate framework for emotional engagement without moral consideration, and allows us to individuate social robots as distinct persons, even in contexts in which they share a collective mind.

This work builds a system that enables any human to control a robot hand and arm, simply by demonstrating motions with their own hand, and demonstrates that it enables previously untrained people to teleoperate a robot on various dexterous manipulation tasks.

Robotics research has a unique allure for both academia and the industry due to its potential for groundbreaking innovation and real-world applications [...]

This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions.

The problems encountered during utilization of Pepper Robot, which is defined as the first social humanoid robot, in the process of human-robot interaction were revealed and an exemplary application was developed to resolve these problems.

Emerging RAMIS technologies are reviewed both in a historical and a future perspective, indicating the inception of a new era in telesurgical robotics, infiltrated by machine learning (ML) and artificial intelligence (AI) solutions.

The paper provides detailed information about state-of-the-art research in care, hospital, assistive, rehabilitation, and walking assisting robots and discusses the open challenges healthcare robots face to be integrated into the authors' society.

The task setting, software distributed for the competition, evaluation procedure, and results of the preliminary and final rounds of the competition are described.

This study proposes a concept of fragile robot and expects that the fragility of robots induces user attachment to robots and conducted two experiments to check its validity and confirmed the appropriateness of the concept on an experimental basis.

An overview of robotic surgery and how it has been integrated into the field of plastic surgery is provided, as well as a review of the most common procedures within the field where robotic assistance can be incorporated: nipple-sparing mastectomy, robotic latissimus flap, robotic deep inferior epigastric artery perforator flap breast reconstruction, and microvascular anastomoses.

This paper uses automatic modular design and neuroevolution to produce the control software for the swarm of shepherds to coordinate the sheep, and shows that automatic design can leverage mission-specific interaction strategies to enable an effective coordination between the two groups.