Related papers: In-Mouth Robotic Bite Transfer with Visual and Hap…
Targeted drug delivery in the gastrointestinal (GI) tract using magnetic robots offers a promising alternative to systemic treatments. However, controlling these robots is a major challenge. Stationary magnetic systems have a limited…
We propose MetaEMG, a meta-learning approach for fast adaptation in intent inferral on a robotic hand orthosis for stroke. One key challenge in machine learning for assistive and rehabilitative robotics with disabled-bodied subjects is the…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
Motion retargeting from humans to human-like artificial agents is becoming increasingly important as humanoid robots grow more capable. However, most existing approaches focus only on reproducing kinematics and ignore the rich sensorimotor…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…
Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…
Recent advances have been made in learning of grasps for fully actuated hands. A typical approach learns the target locations of finger links on the object. When a new object must be grasped, new finger locations are generated, and a…
Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…
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…
The inherent difficulty and limited scalability of collecting manipulation data using multi-fingered robot hand hardware platforms have resulted in severe data scarcity, impeding research on data-driven dexterous manipulation policy…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user…
Numerous diseases and aging can cause degeneration of people's balance ability resulting in limited mobility and even high risks of fall. Robotic technologies can provide more intensive rehabilitation exercises or be used as assistive…
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…