Related papers: Impact-Aware Task-Space Quadratic-Programming Cont…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
Quadratic Programs (QPs) have become a mature technology for the control of robots of all kinds, including humanoid robots. One aspect has been largely overlooked, however, which is the accuracy with which these QPs should be solved. QP…
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM)…
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…
Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees -…
As robots become increasingly prevalent in human environments, there will inevitably be times when a robot needs to interrupt a human to initiate an interaction. Our work introduces the first interruptibility-aware mobile robot system, and…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally,…
Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters.…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
Contact-rich manipulation tasks are commonly found in modern manufacturing settings. However, manually designing a robot controller is considered hard for traditional control methods as the controller requires an effective combination of…
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under uncertainty. Existing learning-based…
The impact forces during switching operations of short-stroke actuators may cause bouncing, audible noise and mechanical wear. The application of soft-landing control strategies to these devices aims at minimizing the impact velocities of…