Related papers: Manipulation of Articulated Objects using Dual-arm…
Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
We develop a computational approach to Metric Answer Set Programming (ASP) to allow for expressing quantitative temporal constraints, like durations and deadlines. A central challenge is to maintain scalability when dealing with…
In this work, we propose algorithms and methods that enable learning dexterous object manipulation using simulated one- or two-armed robots equipped with multi-fingered hand end-effectors. Using a parallel GPU-accelerated physics simulator…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions…
Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…
Considering the difficulty of students in calculating the direct and inverse kinematics of a robotic manipulator using only conventional tools of a classroom, this article proposes the application of Project Based Learning (ABP) through the…
Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…
Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are…
Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…
Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
This paper moves the first step towards automating the composition of Answer Set Programming (ASP) specifications. In particular, the following contributions are provided: (i) A dataset focused on graph-related problem specifications,…
Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…
Robot manipulation tasks by natural language instructions need common understanding of the target object between human and the robot. However, the instructions often have an interpretation ambiguity, because the instruction lacks important…
Despite great strides in language-guided manipulation, existing work has been constrained to table-top settings. Table-tops allow for perfect and consistent camera angles, properties are that do not hold in mobile manipulation. Task plans…