Related papers: Robust and Adaptive Door Operation with a Mobile R…

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…

Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on…

Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…

We present a reinforcement learning based framework for human-centered collaborative systems. The framework is proactive and balances the benefits of timely actions with the risk of taking improper actions by minimizing the total time spent…

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…

When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…

With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…

Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…

Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…

Opening heavy, self closing doors, especially those that require pulling remains a long standing challenge in robotics. Humans naturally employ both arms in a dexterous manner, rotating the handle, widening the gap, holding the door,…

Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors.…

For robots to assist users with household tasks, they must first learn about the tasks from the users. Further, performing the same task every day, in the same way, can become boring for the robot's user(s), therefore, assistive robots must…

In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…

Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…

Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…

Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…

Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…

To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…