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Effectively handling the interplay between spatial perception and action generation remains a critical bottleneck in robotic manipulation. Existing methods typically treat spatial perception and action execution as decoupled or strictly…
This paper presents the development of vision-based robotic arm manipulator control by applying Proportional Derivative-Pseudoinverse Jacobian (PD-PIJ) kinematics and Denavit Hartenberg forward kinematics. The task of sorting objects based…
Many everyday objects are difficult to directly grasp (e.g., a flat iPad) or manipulate functionally (e.g., opening the cap of a pen lying on a desk). Such tasks require sequential, asymmetric coordination between two arms, where one arm…
Industrial automation with six-axis robotic arms is critical for many manufacturing tasks, including welding and additive manufacturing applications; however, many of these operations are functionally redundant due to the symmetrical tool…
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…
Nonlinear dynamical systems can be made easier to control by lifting them into the space of observable functions, where their evolution is described by the linear Koopman operator. This paper describes how the Koopman operator can be used…
This is the second and final article on the tutorial on manipulator differential kinematics. In Part 1, we described a method of modelling kinematics using the elementary transform sequence (ETS), before formulating forward kinematics and…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…
In this paper, locally Lipschitz functions acting between infinite dimensional normed spaces are considered. When the range is a dual space and satisfies the Radon--Nikod\'ym property, Clarke's generalized Jacobian will be extended to this…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
Relative pose (position and orientation) estimation is an essential component of many robotics applications. Fiducial markers, such as the AprilTag visual fiducial system, yield a relative pose measurement from a single marker detection and…
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…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…
We study isometric actions on Riemannian symmetric spaces of noncompact type which are induced by reductive algebraic subgroups of the isometry group. We show that for such an action there exists a corresponding isometric action on a dual…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
Energy consumption optimization of a two-link planar robotic arm is considered with the system's efficiency being the target for optimization. A new formulation of thermodynamic principles within the framework of dynamical systems is used.…