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IEEE Robotics and Automation Letters2024We consider a local planner that utilizes model predictive control to locally deviate from a prescribed global path in response to dynamic environments, taking into account the system dynamics. To ensure the consistency between the local and global paths, we introduce the concept of locally homotopic paths for paths with different origins and destinations. We then formulate a hard constraint to ensure that
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HFES 20242024Traditional tools for ergonomic assessments of workstation designs often involve ergonomists using Digital Human Modeling (DHM) software to simulate worker motions. However, these tools can be limited by posture prediction algorithms that fail to capture the full range and variability of human behavior. Virtual Reality (VR) offers an alternative by enabling workers to perform tasks within simulated workspaces
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IEEE RO-MAN 20242024For social robots operating in home environments, identifying appropriate parking locations which are “out of the way” is a challenging and multi-faceted problem. This paper proposes a solution to one core aspect of that problem, specifically a model for estimating locations where the robot may block walking paths through narrow spaces. For generality, this model assumes no a priori knowledge about user
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IEEE RO-MAN 20242024Mobile robots are being introduced to industrial workplaces in roles that require copresence with humans. To develop effective robots that do not negatively impact humans, including their subjective experience and ability to get their work done, we must understand humans’ needs for working near these robots. In this paper, we examine what human workers need from copresent robots’ motion during work at a
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EUSIPCO 20242024Loudspeaker array beamforming is a common sig-nal processing technique for acoustic directivity control and robust audio reproduction. Unlike their microphone counterpart, loudspeaker constraints are often heterogeneous due to arrayed transducers with varying operating ranges in frequency, acoustic-electrical sensitivity, efficiency, and directivity. This work pro-poses a frequency-regularization method
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