Related papers: Robust Quaternion-based Cooperative Manipulation w…

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…

Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in…

Control of robot orientation in Cartesian space implicates some difficulties, because the rotation group SO(3) is not contractible, and only globally contractible state spaces support continuous and globally asymptotically stable feedback…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters.…

We introduce a model of multi-agent dynamics for self-organised motion; individuals travel at a constant speed while trying to adopt the averaged body attitude of their neighbours. The body attitudes are represented through unitary…

Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…

Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…

Collaborative transport of objects via pushing by multiple robots has many applications, ranging from construction and warehouse environments to post disaster debris clean-up. Achieving collaborative transport over surfaces with different…

Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…

Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…

Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of…

This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…

The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…

This paper presents a control framework to teleoperate a quadruped robot's foot for operator-guided haptic exploration of the environment. Since one leg of a quadruped robot typically only has 3 actuated degrees of freedom (DoFs), the torso…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…