Related papers: Motion and Force Planning for Manipulating Heavy O…
Glovebox decommissioning tasks usually require manipulating relatively heavy objects in a highly constrained environment. Thus, contact with the surroundings becomes inevitable. In order to allow the robot to interact with the environment…
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…
Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…
We explore the problem of estimating the mass distribution of an articulated object by an interactive robotic agent. Our method predicts the mass distribution of an object by using the limited sensing and actuating capabilities of a robotic…
Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet…
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
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…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…