Related papers: A Projected Inverse Dynamics Approach for Dual-arm…
Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures the safety of the arm and…
The independent control of multiple magnetic microrobots under a shared global signal presents critical challenges in biomedical applications such as targeted drug delivery and microsurgeries. Most existing systems only allow all agents to…
In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the…
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…
Manipulating deformable linear objects (DLOs) to achieve desired shapes in constrained environments with obstacles is a meaningful but challenging task. Global planning is necessary for such a highly-constrained task; however, accurate…
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the…
Hand motion capture data is now relatively easy to obtain, even for complicated grasps; however this data is of limited use without the ability to retarget it onto the hands of a specific character or robot. The target hand may differ…
Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
Extending the field of magnetic manipulation to conductive, non-magnetic objects opens the door for a wide array of applications previously limited to hard or soft magnetic materials. Of particular interest is the recycling of space debris…
Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
Recent research has demonstrated the usefulness of imitation learning in autonomous robot operation. In particular, teaching using four-channel bilateral control, which can obtain position and force information, has been proven effective.…
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
Recent advancements in robot tool use have unlocked their usage for novel tasks, yet the predominant focus is on rigid-body tools, while the investigation of soft-body tools and their dynamic interaction with rigid bodies remains…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to…
With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…