Related papers: Robust Quaternion-based Cooperative Manipulation w…
Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
In this paper, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamic model of the system is derived based on quaternions to describe the evolution of the attitude of the base…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
In this work, we propose a hybrid hierarchical control framework for reactive dexterous grasping that explicitly decouples high-level spatial intent from low-level joint execution. We introduce a multi-agent reinforcement learning…
Haptic shared control (HSC) is effective in teleoperation when full autonomy is limited by uncertainty or sensing constraints. However, autonomous control performance achieved by maximizing HSC strength is limited because the dynamics of…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Task-space Passivity-Based Control (PBC) for manipulation has numerous appealing properties, including robustness to modeling error and safety for human-robot interaction. Existing methods perform poorly in singular configurations, however,…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…