MOMO integrates kinesthetic teaching, a tool-based LLM for safe language adaptation, Kernelized Movement Primitives, probabilistic virtual fixtures, and ergodic control to support seamless physical, verbal, and graphical robot skill learning and adaptation.
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A combined SHARD and STPA hazard analysis of a mammography support robot reveals interaction-based risks and translates them into safety constraints that reduce dependence on perfect human timing.
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MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation
MOMO integrates kinesthetic teaching, a tool-based LLM for safe language adaptation, Kernelized Movement Primitives, probabilistic virtual fixtures, and ergodic control to support seamless physical, verbal, and graphical robot skill learning and adaptation.
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Hazard Management in Robot-Assisted Mammography Support
A combined SHARD and STPA hazard analysis of a mammography support robot reveals interaction-based risks and translates them into safety constraints that reduce dependence on perfect human timing.