Related papers: Robust Pivoting Manipulation using Contact Implici…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging under geometric uncertainties, e.g., when the object pose or…

We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…

This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…

Recent research has demonstrated the potential of reinforcement learning in effective multi-robot collaboration, particularly in social dilemmas where robots face a trade-off between self-interest and collective benefits. However,…

In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…

Autonomous vehicles face tremendous challenges while interacting with human drivers in different kinds of scenarios. Developing control methods with safety guarantees while performing interactions with uncertainty is an ongoing research…

The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…

Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…

Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulation through contacts using the whole surface of the body…

Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads…

Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system. To mitigate this issue, we introduce bipedalism for…

Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for acquiring this capability, existing approaches, whether…

Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…

As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…

This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…

When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…

Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…

In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…