Related papers: Kinematic Modularity of Elementary Dynamic Actions
Despite a slow neuromuscular system, humans easily outperform modern robot technology, especially in physical contact tasks. How is this possible? Biological evidence indicates that motor control of biological systems is achieved by a…
Mobile manipulation tasks remain one of the critical challenges for the widespread adoption of autonomous robots in both service and industrial scenarios. While planning approaches are good at generating feasible whole-body robot…
Generating a collision-free robot motion is crucial for safe applications in real-world settings. This requires an accurate model of all obstacle shapes within the constrained robot cell, which is particularly challenging and…
Motor primitives are fundamental building blocks of a controller which enable dynamic robot behavior with minimal high-level intervention. By treating motor primitives as basic "modules," different modules can be sequenced or superimposed…
Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile…
Optimal control approaches in combination with trajectory optimization have recently proven to be a promising control strategy for legged robots. Computationally efficient and robust algorithms were derived using simplified models of the…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
During the past few years, probabilistic approaches to imitation learning have earned a relevant place in the literature. One of their most prominent features, in addition to extracting a mean trajectory from task demonstrations, is that…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
Re-configurable modular robotic (RMR) systems are advantageous for their reconfigurability and versatility. A new modular robot can be built for a specific task by using modules as building blocks. However, constructing a kinematic model…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
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…
Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…
This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…
We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…