Related papers: Collaborative Manipulation of Deformable Objects w…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
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…
Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
We consider the problem of sequential robotic manipulation of deformable objects using tools. Previous works have shown that differentiable physics simulators provide gradients to the environment state and help trajectory optimization to…
In this work, we aim to teach robots to manipulate various thin-shell materials. Prior works studying thin-shell object manipulation mostly rely on heuristic policies or learn policies from real-world video demonstrations, and only focus on…
Achieving collision avoidance between moving objects is an important objective while determining robot trajectories. In performing collision avoidance maneuvers, the relative shapes of the objects play an important role. The literature…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
In a computer-based virtual environment, objects may collide with each other. Therefore, different algorithms are needed to detect the collision and perform a correct action in order to avoid penetration. Based on the application and…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise definition of the state space and its dynamics. While this is…