Related papers: Human-Multirobot Collaborative Mobile Manipulation…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Mobile manipulation is a fundamental capability for general-purpose robotic agents, requiring both coordinated control of the mobile base and manipulator and robust perception under dynamically changing viewpoints. However, existing…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…
This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied environments. The system integrates a multi-modal sensing suite…
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balance. We compute, in real-time, a safe center-of-mass position…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
This article proposes a mobile quad-arm robot: ARMS, which unifies wheeled-legged tripedal locomotion, wheeled locomotion, and quad-arm loco-manipulation. ARMS's four arms have different mechanisms and are partially designed to be…
Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for…
Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as Dynamic Mobile Manipulation (DMM). This paper presents a…
Cooperative transportation by multi-aerial robots has the potential to support various payloads and improve failsafe against dropping. Furthermore, changing the attachment positions of robots according payload characteristics increases the…
Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of…
Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…