Related papers: Legged Robots for Object Manipulation: A Review
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
Autonomous robots have the potential to serve as versatile caregivers that improve quality of life for millions of people worldwide. Yet, conducting research in this area presents numerous challenges, including the risks of physical…
Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…
Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft…
Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
There are many different ways a robot can move in Human-Robot Interaction. One way is to use techniques from film animation to instruct the robot to move. This article is a systematic literature review of human-robot trials, pilots, and…
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking…
In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…
As robots leave the controlled environments of factories to autonomously function in more complex, natural environments, they will have to respond to the inevitable fact that they will become damaged. However, while animals can quickly…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…