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We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to record human demonstrations of a box in box assembly task.…
This paper introduces a novel approach to interactive robots by leveraging the form-factor of cards to create thin robots equipped with vibrational capabilities for locomotion and haptic feedback. The system is composed of flat-shaped…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…
One important vision of robotics is to provide physical assistance by manipulating different everyday objects, e.g., hand tools, kitchen utensils. However, many objects designed for dexterous hand-control are not easily manipulable by a…
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
In this paper, we present an easy to use sketch-based interface to extract geometries and generate affordance files from 3D point clouds for robot-object interaction tasks. Using our system, even novice users can perform robot task planning…
Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots are unable to access rugged environments such as cliffs,…
We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity,…
Tensegrity structures are lightweight, can undergo large deformations, and have outstanding robustness capabilities. These unique properties inspired roboticists to investigate their use. However, the morphological design, control,…
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 SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2kg and has a body size of 245mm while using space-qualifiable components. Furthermore,…
This paper shows the potential of a Lego\c{opyright} based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall setup aims to explain mobile robotic issues strongly related…
Robotic arms are highly common in various automation processes such as manufacturing lines. However, these highly capable robots are usually degraded to simple repetitive tasks such as pick-and-place. On the other hand, designing an optimal…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…