Related papers: An optimal open-loop strategy for handling a flexi…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…
Slip detection is essential for robots to make robust grasping and fine manipulation. In this paper, a novel dynamic vision-based finger system for slip detection and suppression is proposed. We also present a baseline and feature based…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
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…
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspended from the ceiling, each actuated by…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…
Intelligence lies not only in the brain (decision-making processes) but in the body (physical morphology). The morphology of robots can significantly influence how they interact with the physical world, crucial for manipulating objects in…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking control for vibrational stabilization (ESC-VS) approach that…
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many…
We present efficient reduced basis (RB) methods for the simulation of the coupled problem consisting of a rigid robot hand interacting with soft tissue material which is modeled by the linear elasticity equation and discretized with the…
Humans can effortlessly perform very complex, dexterous manipulation tasks by reacting to sensor observations. In contrast, robots can not perform reactive manipulation and they mostly operate in open-loop while interacting with their…