Related papers: Legged Robots for Object Manipulation: A Review
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on…
Group processes refer to the dynamics that occur within a group and are critical for understanding how groups function. With robots being increasingly placed within small groups, improving these processes has emerged as an important…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…
A human-shaped robotic hand offers unparalleled versatility and fine motor skills, enabling it to perform a broad spectrum of tasks with precision, power and robustness. Across the paleontological record and animal kingdom we see a wide…
A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum lifter and adjusts the object's pose to maintain balance. In…
For locomotion, is an arm on a legged robot a liability or an asset for locomotion? Biological systems evolved additional limbs beyond legs that facilitates postural control. This work shows how a manipulator can be an asset for legged…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic systems still fall short of matching biological dexterity. In this…
This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the receiver. The physical exchange starts when the receiver first…
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…
Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
This paper shows the potential of a Lego\c{opyright} based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall setup aims to explain mobile robotic issues strongly related…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…
Recent work has shown results on learning navigation policies for idealized cylinder agents in simulation and transferring them to real wheeled robots. Deploying such navigation policies on legged robots can be challenging due to their…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…
Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…