Related papers: Estimating Mass Distribution of Articulated Object…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Immersive rooms are increasingly popular augmented reality systems that support multi-agent interactions within a virtual world. However, despite extensive content creation and technological developments, insights about perceptually-driven…
In many real-world settings, image observations of freely rotating 3D rigid bodies may be available when low-dimensional measurements are not. However, the high-dimensionality of image data precludes the use of classical estimation…
Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…
Humans learn about objects via interaction and using multiple perceptions, such as vision, sound, and touch. While vision can provide information about an object's appearance, non-visual sensors, such as audio and haptics, can provide…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
In physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be…
One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…
Nonprehensile manipulation through precise pushing is an essential skill that has been commonly challenged by perception and physical uncertainties, such as those associated with contacts, object geometries, and physical properties. For…
Manipulation is a key capability in domestic service robots, as can be seen in the rulebooks of last Robocup@Home editions. Currently, object recognition is performed based mostly on visual information. Some robots use also 3D information…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimensionality of the pose estimation problem, and partial…
Looking at a person's hands one often can tell what the person is going to do next, how his/her hands are moving and where they will be, because an actor's intentions shape his/her movement kinematics during action execution. Similarly,…
This paper presents a principled way to think about articulated movement for artificial agents and a measurement of platforms that produce such movement. In particular, in human-facing scenarios, the shape evolution of robotic platforms…
When performing tasks like laundry, humans naturally coordinate both hands to manipulate objects and anticipate how their actions will change the state of the clothes. However, achieving such coordination in robotics remains challenging due…
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…
In this paper, we consider the problem of distributed reachable set computation for multi-agent systems (MASs) interacting over an undirected, stationary graph. A full state-feedback control input for such MASs depends no only on the…