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Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
Dynamic Movement Primitives (DMP) are an established and efficient method for encoding robotic tasks that require adaptation based on reference motions. Typically, the nominal trajectory is obtained through Programming by Demonstration…
Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Deep Vein Thrombosis (DVT) is a common yet potentially fatal condition, often leading to critical complications like pulmonary embolism. DVT is commonly diagnosed using Ultrasound (US) imaging, which can be inconsistent due to its high…
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…
As entertainment robots gain popularity, the demand for natural and expressive motion, particularly in dancing, continues to rise. Traditionally, dancing motions have been manually designed by artists, a process that is both labor-intensive…
Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
This report describes our approach for Phase 3 of the Real Robot Challenge. To solve cuboid manipulation tasks of varying difficulty, we decompose each task into the following primitives: moving the fingers to the cuboid to grasp it,…
This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have…
We present Model-Predictive Interaction Primitives -- a robot learning framework for assistive motion in human-machine collaboration tasks which explicitly accounts for biomechanical impact on the human musculoskeletal system. First, we…
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and…
One of the most frequent modalities of breast cancer treatment is surgery. Breast surgery can cause visual alterations to the breasts, due to scars and asymmetries. To enable an informed choice of treatment, the patient must be adequately…
This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…