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Grasping is a fundamental skill for interacting with and manipulating objects in the environment. However, this ability can be challenging for individuals with hand impairments. Soft hand exoskeletons designed to assist grasping can enhance…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Grasping is an incredible ability of animals using their arms and limbs in their daily life. The human hand is an especially astonishing multi-fingered tool for precise grasping, which helped humans to develop the modern world. The…
Animals can accomplish many incredible behavioral feats across a wide range of operational environments and scales that current robots struggle to match. One explanation for this performance gap is the extraordinary properties of the…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide…
Humans exhibit outstanding learning, planning and adaptation capabilities while performing different types of industrial tasks. Given some knowledge about the task requirements, humans are able to plan their limbs motion in anticipation of…
Machines that mimic humans have inspired scientists for centuries. Bio-inspired soft robotic hands are a good example of such an endeavor, featuring intrinsic material compliance and continuous motion to deal with uncertainty and adapt to…
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…
An in-domain finite dimensional controller for a class of distributed parameter systems on a one-dimensional spatial domain formulated under the port-Hamiltonian framework is presented. Based on [25] where positive feedback and a late…
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…
The human arm exhibits remarkable capabilities, including both explosive power and precision, which demonstrate dexterity, compliance, and robustness in unstructured environments. Developing robotic systems that emulate human-like…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…
We present a new approach for modelling musculoskeletal anatomy. Unlike previous methods, we do not model individual muscle shapes as geometric primitives (polygonal meshes, NURBS etc.). Instead, we adopt a volumetric segmentation approach…
Rapid, targeted hand movements exhibit a regular movement pattern described by Fitts law. We develop a model of these movements in which this movement pattern results from an optimal control model describing rapid hand movements and a…
The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…