Related papers: Tactile Estimation of Extrinsic Contact Patch for …
Continuous in-hand manipulation is an important physical interaction skill, where tactile sensing provides indispensable contact information to enable dexterous manipulation of small objects. This work proposed a framework for end-to-end…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…
Legged locomotion has received increasing attention from the robotics community. In this respect, contact stability plays a critical role in ensuring that robots maintain balance, and it is a key element for balancing and walking…
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…
This paper addresses the task of 3D pose estimation for a hand interacting with an object from a single image observation. When modeling hand-object interaction, previous works mainly exploit proximity cues, while overlooking the dynamical…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight,…
In this paper we address the challenge of exploration in deep reinforcement learning for robotic manipulation tasks. In sparse goal settings, an agent does not receive any positive feedback until randomly achieving the goal, which becomes…
We present in-hand manipulation tasks where a robot moves an object in grasp, maintains its external contact mode with the environment, and adjusts its in-hand pose simultaneously. The proposed manipulation task leads to complex contact…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
This paper analyzes how interaction effects can be consistently estimated under economically plausible assumptions in linear panel models with a fixed $T$-dimension. We advocate for a \emph{correlated interaction term estimator} (CITE) and…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
Robotic manipulation tasks such as object insertion typically involve interactions between object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields (NCF) use intrinsic tactile sensing between gripper and object…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
This paper studies the problem of passive grasp stability under an external disturbance, that is, the ability of a grasp to resist a disturbance through passive responses at the contacts. To obtain physically consistent results, such a…
Pushing is an essential non-prehensile manipulation skill used for tasks ranging from pre-grasp manipulation to scene rearrangement, reasoning about object relations in the scene, and thus pushing actions have been widely studied in…
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…