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This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
During locomotion, legged robots interact with the ground by sequentially establishing and breaking contact. The interaction wrenches that arise from contact are used to steer the robot Center of Mass (CoM) and reject perturbations that…
Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulation through contacts using the whole surface of the body…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
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…
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins.Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Various adaptive abilities are required for robots interacting with humans in daily life. It is difficult to design adaptive algorithms manually; however, by using end-to-end machine learning, labor can be saved during the design process.…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
This article presents a method for learning well-coordinated Human-Robot Interaction (HRI) from Human-Human Interactions (HHI). We devise a hybrid approach using Hidden Markov Models (HMMs) as the latent space priors for a Variational…
Reactive motion generation in dynamic and unstructured scenarios is typically subject to essentially static perception and system dynamics. Reliably modeling dynamic obstacles and optimizing collision-free trajectories under perceptive and…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…