Related papers: Arm Manipulation Planning of Tethered Tools with t…

Humans use tools to complete impact-aware tasks such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding…

In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…

To safely and efficiently extract an object from the clutter, this paper presents a bimanual manipulation planner in which one hand of the robot is used to slide the target object out of the clutter while the other hand is used to support…

Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…

Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…

Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage…

Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects…

This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the…

Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…

The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the…

Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance…

I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted…

This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…

This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is…

This paper proposes a combined task and motion planner for a dual-arm robot to use a suction cup tool. The planner consists of three sub-planners -- A suction pose sub-planner and two regrasp and motion sub-planners. The suction pose…

For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented…

Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…

The flexible under-actuated musculoskeletal hand is superior in its adaptability and impact resistance. On the other hand, since the relationship between sensors and actuators cannot be uniquely determined, almost all its controls are based…