Related papers: Inverse Dynamics with Rigid Contact and Friction
Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…
Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
In a robot-centered smart home, the robot observes the home states with its own sensors, and then it can change certain object states according to an operator's commands for remote operations, or imitate the operator's behaviors in the…
Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to detect and reason about these contact constraints can support…
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling…
With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…
Revealing physical interactions in complex systems from observed collective dynamics constitutes a fundamental inverse problem in science. Current reconstruction methods require access to a system's model or dynamical data at a level of…
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…