Related papers: Tactile Tool Manipulation
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…
Enabling multi-fingered robots to grasp and manipulate objects with human-like dexterity is especially challenging during the dynamic, continuous hand-object interactions. Closed-loop feedback control is essential for dexterous hands to…
Using doors is a longstanding challenge in robotics and is of significant practical interest in giving robots greater access to human-centric spaces. The task is challenging due to the need for online adaptation to varying door properties…
Intricate behaviors an organism can exhibit is predicated on its ability to sense and effectively interpret complexities of its surroundings. Relevant information is often distributed between multiple modalities, and requires the organism…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Vision-based grasping systems typically adopt an open-loop execution of a planned grasp. This policy can fail due to many reasons, including ubiquitous calibration error. Recovery from a failed grasp is further complicated by visual…
Having the ability to estimate an object's properties through interaction will enable robots to manipulate novel objects. Object's dynamics, specifically the friction and inertial parameters have only been estimated in a lab environment…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod,…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…