Related papers: Dynamic Movement Primitive based Motion Retargetin…
Movement generation, and especially generalisation to unseen situations, plays an important role in robotics. Different types of movement generation methods exist such as spline based methods, dynamical system based methods, and methods…
Dexterous in-hand manipulation is a peculiar and useful human skill. This ability requires the coordination of many senses and hand motion to adhere to many constraints. These constraints vary and can be influenced by the object…
This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…
We present a novel approach for enhancing human-robot collaboration using physical interactions for real-time error correction of large language model (LLM) powered robots. Unlike other methods that rely on verbal or text commands, the…
In this paper, we present the probably first application of the popular \emph{Dynamic Movement Primitives (DMP)} approach to the domain of soccer-playing humanoid robots. DMPs are known for their ability to imitate previously demonstrated…
Bimanual handovers are crucial for transferring large, deformable or delicate objects. This paper proposes a framework for generating kinematically constrained human-like bimanual robot motions to ensure seamless and natural robot-to-human…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…
Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while…
Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This paper presents a…
The dynamic motion primitive-based (DMP) method is an effective method of learning from demonstrations. However, most of the current DMP-based methods focus on learning one task with one module. Although, some deep learning-based frameworks…
Replicating human--level dexterity remains a fundamental robotics challenge, requiring integrated solutions from mechatronic design to the control of high degree--of--freedom (DoF) robotic hands. While imitation learning shows promise in…
Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or rely on unstable and ambiguous style rewards. In this paper,…
In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…
A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the…
Human hand actions are quite complex, especially when they involve object manipulation, mainly due to the high dimensionality of the hand and the vast action space that entails. Imitating those actions with dexterous hand models involves…
Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
The collaboration and interaction of multiple robots have become integral aspects of smart manufacturing. Effective planning and management play a crucial role in achieving energy savings and minimising overall costs. This paper addresses…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…