Related papers: Towards Mobile Multi-Task Manipulation in a Confin…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
Recent advancements in robotics have underscored the need for effective collaboration between humans and robots. Traditional interfaces often struggle to balance robot autonomy with human oversight, limiting their practical application in…
Robotic manipulation and grasping in cluttered and unstructured environments is a current challenge for robotics. Enabling robots to operate in these challenging environments have direct applications from automating warehouses to harvesting…
While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range…
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and move to a desired location while avoiding static and dynamic…
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…
Mobile manipulation in robotics is challenging due to the need of solving many diverse tasks, such as opening a door or picking-and-placing an object. Typically, a basic first-principles system description of the robot is available, thus…
Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…
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.…
Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant…
This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohammed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended…
Developing autonomous home robots controlled by natural language has long been a pursuit of humanity. While advancements in large language models (LLMs) and embodied intelligence make this goal closer, several challenges persist: the lack…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
Robotic grasping is an essential capability, playing a critical role in enabling robots to physically interact with their surroundings. Despite extensive research, challenges remain due to the diverse shapes and properties of target…
Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…
The BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022) in Philadelphia, PA. The aim of the challenge was to evaluate state-of-the-art autonomous…
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…