Related papers: Legged Robots for Object Manipulation: A Review
Legged robots are being used to explore rough terrains as they are capable of traversing gaps and obstacles. In this paper, a new mechanism is designed to replicate a robotic lizard using integrated five-bar mechanisms. There are two five…
Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
An autonomous robot that is able to physically guide humans through narrow and cluttered spaces could be a big boon to the visually-impaired. Most prior robotic guiding systems are based on wheeled platforms with large bases with actuated…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Robots can influence people to accomplish their tasks more efficiently: autonomous cars can inch forward at an intersection to pass through, and tabletop manipulators can go for an object on the table first. However, a robot's ability to…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
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…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…