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Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…
Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills. By…
Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
We consider the problem of capacitated kinetic clustering in which $n$ mobile terminals and $k$ base stations with respective operating capacities are given. The task is to assign the mobile terminals to the base stations such that the…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…
Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feasible trajectories remains difficult due to whole-body…
Task and motion planning is a well-established approach for solving long-horizon robot planning problems. However, traditional methods assume that each task-level robot action, or skill, can be reduced to kinematic motion planning. We…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…
Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This paper provides the mechanical, electrical, and software design of a novel UVMS equipped with…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…