Related papers: Challenges and Outlook in Robotic Manipulation of …
Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…
The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable…
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…
One of the most important challenges in robotics is producing accurate trajectories and controlling their dynamic parameters so that the robots can perform different tasks. The ability to provide such motion control is closely related to…
To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.
Learning to manipulate cloth is both a paradigmatic problem for robotic research and a problem of immediate relevance to a variety of applications ranging from assistive care to the service industry. The complex physics of the deformable…
Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
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…
Manipulation of deformable linear objects (DLOs) in constrained environments is a challenging task. This paper describes a two-layered approach for placing DLOs on a flat surface using a single robot hand. The high-level layer is a novel…
PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Segmentation and tracking of unseen object instances in discrete frames pose a significant challenge in dynamic industrial robotic contexts, such as distribution warehouses. Here, robots must handle object rearrangement, including shifting,…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
This paper presents a novel approach for robot navigation in environments containing deformable obstacles. By integrating Learning from Demonstration (LfD) with Dynamical Systems (DS), we enable adaptive and efficient navigation in complex…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…
Advanced dexterous manipulation involving multiple simultaneous contacts across different surfaces, like pinching coins from ground or manipulating intertwined objects, remains challenging for robotic systems. Such tasks exceed the…
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI)…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…