Related papers: Folding Deformable Objects using Predictive Simula…
Many real-world systems often involve physical components or operating environments with highly nonlinear and uncertain dynamics. A number of different control algorithms can be used to design optimal controllers for such systems, assuming…
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI)…
Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass and inertia of objects and the robot itself. This paper…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
Cloth folding is a complex task due to the inevitable self-occlusions of clothes, their complicated dynamics, and the disparate materials, geometries, and textures that garments can have. In this work, we learn folding actions conditioned…
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household,…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…