Related papers: Robust Quaternion-based Cooperative Manipulation w…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
During physical human robot collaboration, it is important to be able to implement a time-varying interactive behaviour while ensuring robust stability. Admittance control and passivity theory can be exploited for achieving these…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Cooperative grasping and transportation require effective coordination to complete the task. This study focuses on the approach leveraging force-sensing feedback, where robots use sensors to detect forces applied by others on an object to…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of tool-use (e.g., grasped spatula flipping a burger) and…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…
Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body based on commonly used local measurements. To the best of our…
Four-channel bilateral control is a method for achieving remote control with force feedback and adjustment operability by synchronizing the positions and forces of two manipulators. This is expected to significantly improve the operability…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…