Related papers: A Holistic Approach to Reactive Mobile Manipulatio…

Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…

We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…

We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is…

For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…

Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go" handovers which permit a…

We present a fully autonomous real-world RL framework for mobile manipulation that can learn policies without extensive instrumentation or human supervision. This is enabled by 1) task-relevant autonomy, which guides exploration towards…

A resolved acceleration control (RAC) and proportional-integral active force control (PIAFC) is proposed as an approach for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform…

In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…

Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…

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…

Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…

Mobile manipulation tasks remain one of the critical challenges for the widespread adoption of autonomous robots in both service and industrial scenarios. While planning approaches are good at generating feasible whole-body robot…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…

Robotic in-hand manipulation has been a long-standing challenge due to the complexity of modelling hand and object in contact and of coordinating finger motion for complex manipulation sequences. To address these challenges, the majority of…

The ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. To push forward the…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…