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Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
Quadruped robots have made significant advances in locomotion, extending their capabilities from controlled environments to real-world applications. Beyond movement, recent work has explored loco-manipulation using the legs to perform tasks…
This paper presents the design of a geometric trajectory tracking controller for the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached to the quadrotors via inflexible…
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force…
The use of cables for aerial manipulation has shown to be a lightweight and versatile way to interact with objects. However, fastening objects using cables is still a challenge and human is required. In this work, we propose a novel way to…
Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…
In this paper, we present a planner for manipulating tethered tools using dual-armed robots. The planner generates robot motion sequences to maneuver a tool and its cable while avoiding robot-cable entanglements. Firstly, the planner…
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…
Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamic performances. The rigid base frame of the CDPR is connected in parallel to the moving platform using cables. However, their…
Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
We consider the nonprehensile object transportation task known as the waiter's problem - in which a robot must move an object on a tray from one location to another - when the transported object has uncertain inertial parameters. In…
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected…
The collaboration between humans and robots is critical in many robotic applications, especially in those requiring physical human-robot interaction (pHRI). Previous research in pHRI has largely focused on robotic manipulators, employing…
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…