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Legged robot locomotion on sand slopes is challenging due to the complex dynamics of granular media and how the lack of solid surfaces can hinder locomotion. A promising strategy, inspired by ghost crabs and other organisms in nature, is to…

Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…

Billions of people use chopsticks, a simple yet versatile tool, for fine manipulation of everyday objects. The small, curved, and slippery tips of chopsticks pose a challenge for picking up small objects, making them a suitably complex test…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…

Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurately predict ball trajectories with spins…

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…

This paper presents a robotic in-hand manipulation technique that can be applied to pick an object too large to grasp in a prehensile manner, by taking advantage of its contact interactions with a curved, passive end-effector, and two flat…

This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…

Humans can steadily and gently grasp unfamiliar objects based on tactile perception. Robots still face challenges in achieving similar performance due to the difficulty of learning accurate grasp-force predictions and force control…

Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…

The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…

In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

In this paper we exploit some interesting properties of a class of bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is…

Proprioceptive information is critical for precise servo control by providing real-time robotic states. Its collaboration with vision is highly expected to enhance performances of the manipulation policy in complex tasks. However, recent…