Related papers: Robotic Contact Juggling
Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulation through contacts using the whole surface of the body…
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…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
The empirical success of Reinforcement Learning (RL) in the setting of contact-rich manipulation leaves much to be understood from a model-based perspective, where the key difficulties are often attributed to (i) the explosion of contact…
Recent advancements have enabled human-robot collaboration through physical assistance and verbal guidance. However, limitations persist in coordinating robots' physical motions and speech in response to real-time changes in human behavior…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
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…
The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…
Gestures are a natural form of communication between humans and can also be leveraged for human-robot interaction. This work presents a gesture-based user interface for object selection using pointing and click gestures. An experiment with…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…