Related papers: A Method for Constraint Inference Using Pose and W…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
This paper considers inference for a function of a parameter vector in a partially identified model with many moment inequalities. This framework allows the number of moment conditions to grow with the sample size, possibly at exponential…
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a new Center-of-Mass (CoM)-based grasp pose adaptation method,…
Varying contraction levels of muscles is a big challenge in electromyography-based gesture recognition. Some use cases require the classifier to be robust against varying force changes, while others demand to distinguish between different…
Tool use is an important milestone in the evolution of intelligence. In this paper, we investigate different modes of tool use that emerge in a reaching and dragging task. In this task, a jointed arm with a gripper must grab a tool (T, I,…
This paper proposes a new method for manipulating unknown objects through a sequence of non-prehensile actions that displace an object from its initial configuration to a given goal configuration on a flat surface. The proposed method…
The dramatic viscosity increase observed in dense suspensions under shear poses a major challenge in our understanding of how microscopic contact mechanics translate into macroscopic flow resistance. Here, we introduce a constraint-counting…
In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…
Constraints can be interpreted in a broad sense as any kind of explicit restriction over the parameters. While some constraints are defined directly on the parameter space, when they are instead defined by known behaviour on the model,…
Object transport tasks are fundamental in robotic automation, emphasizing the importance of efficient and secure methods for moving objects. Non-prehensile transport can significantly improve transport efficiency, as it enables handling…
We revisit the concept of constraint embedding as a means for dealing with kinematic loop constraints during dynamics computations for rigid-body systems. Specifically, we consider the local loop constraints emerging from common actuation…
In this work we present a system identification procedure based on Convolutional Neural Networks (CNN) for human posture control models. A usual approach to the study of human posture control consists in the identification of parameters for…
A polyhedral friction cone is a set of reaction wrenches that an object can experience whilst in contact with its environment. This polyhedron is a powerful tool to control an object's motion and interaction with the environment. It can be…
This paper proposes a simple unified inference approach on moment restrictions in the presence of nuisance parameters. The proposed test is constructed based on a new characterization that avoids the estimation of nuisance parameters and…
Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of…
Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…
Pushing is an essential non-prehensile manipulation skill used for tasks ranging from pre-grasp manipulation to scene rearrangement, reasoning about object relations in the scene, and thus pushing actions have been widely studied in…
To efficiently simulate very thin, inextensible materials like cloth or paper, it is tempting to replace force-based thin-plate dynamics with hard isometry constraints. Unfortunately, naive formulations of the constraints induce membrane…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing work considered models ranging from intuitive physics and physical simulators to…