Robotics

We present a novel computational approach to optimizing the morphological design of robots.

We introduce a miniaturized active stabilization mechanism that attenuates such disturbances and keeps the camera steady.

In this paper, we use KUKA’s Fast Robot Interface (FRI) to design and implement a tracking controller on the Lightweight Robot (LBR) IIWA.

We demonstrate the efficacy of the algorithm on a theme-park type humanoid doing a drawing task, serving drink in a glass, and serving a drink placed on a tray without spilling.

We present a system enabling users to accurately catch a real ball while immersed in a virtual reality environment.

For this experiment, we designed a novel protocol to induce changes in the robot's group and study different social contexts.

We present an iterative learning control algorithm for accurate task space tracking of kinematically redundant robots with stringent joint position limits and kinematic modeling errors.