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In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed trajectory (including speed and acceleration) has a decisive…
Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, the performance of series elastic actuators can surpass that of ideal…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to…
Robots are widely used in industry due to their efficiency and high accuracy in performance. One of the most intriguing issues in manufacturing stage of production line is to minimize significantly high percentage of energy consumed by…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…
The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically approximated with reduced-order models, which often rely on…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algorithm, capable of manipulating many different types of…
In this paper, a deformable object is considered for cameras deployment with the aim of visual coverage. The object contour is discretized into sampled points as meshes, and the deformation is represented as continuous trajectories for the…
A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given endeffector path in the Cartesian space. In this paper, we present a…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…
Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…