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In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…

Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…

Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…

In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…

Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…

Historically, feature-based approaches have been used extensively for camera-based robot perception tasks such as localization, mapping, tracking, and others. Several of these approaches also combine other sensors (inertial sensing, for…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a…

Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…

In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the…

In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…

Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environments. However, their softness makes accurate control very…

Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…

In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…

Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of…

This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move…