Related papers: Closed-Chain Manipulation of Large Objects by Mult…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
We consider the problem of reconfiguring a two-dimensional connected grid arrangement of passive building blocks from a start configuration to a goal configuration, using a single active robot that can move on the tiles, remove individual…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
In this paper, we propose a compliant motion control strategy for handling a single object by two similar industrial robots. The dynamics of the object carried by the two robots is assimilated to the dynamics of a mass-spring-damper system…
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement guidance whilst coping with changes in the environment is…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…
This paper discusses the feasibility of using configuration space (C-space) as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human…
We propose a spatial-constraint approach for modeling spatial-based interactions and enabling interactive visualizations, which involves the manipulation of visualizations through selection, filtering, navigation, arrangement, and…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to detect and reason about these contact constraints can support…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
This paper addresses the Motion Execution Gap, the disconnect between high-level symbolic task descriptions using semantic constraints and executable robot motions. Motion Statecharts are introduced as an executable symbolic representation…
We analyze the dynamics of Brownian ratchets in a confined environment. The motion of the particles is described by a Fick-Jakobs kinetic equation in which the presence of boundaries is modeled by means of an entropic potential. The cases…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…