Related papers: Multi-Contact Whole-Body Force Control for Positio…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…
Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…
An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The standard hierarchical control pipeline for such legged…
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…
Non-prehensile manipulation is challenging due to complex contact interactions between objects, the environment, and robots. Model-based approaches can efficiently generate complex trajectories of robots and objects under contact…
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
Contact-rich manipulation is crucial for robots to perform tasks requiring precise force control, such as insertion, assembly, and in-hand manipulation. However, most imitation learning (IL) policies remain position-centric and lack…
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
Controlling robots that dynamically engage in contact with their environment is a pressing challenge. Whether a legged robot making-and-breaking contact with a floor, or a manipulator grasping objects, contact is everywhere. Unfortunately,…
Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…
This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new…