Related papers: Trajectory Control for Differential Drive Mobile M…

We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of four modules. The first module is a data collection module that…

Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…

We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…

The exchange of information is key in applications that involve multiple agents, such as search and rescue, military operations, and disaster response. In this work, we propose a simple and effective trajectory planning framework that…

Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a…

Recent technological innovations in the areas of additive manufacturing and collaborative robotics have paved the way toward realizing the concept of on-demand, personalized production on the shop floor. Additive manufacturing process can…

We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…

Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

The deployment of robot controllers is hindered by modeling discrepancies due to necessary simplifications for computational tractability or inaccuracies in data-generating simulators. Such discrepancies typically require ad-hoc tuning to…

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…

This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…

This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…

Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…

Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…

Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each…