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Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task…
As robotic technologies advancing towards more complex multimodal interactions and manipulation tasks, the integration of advanced Vision-Language Models (VLMs) has become a key driver in the field. Despite progress with current methods,…
In this project, we focus on human-robot interaction in caregiving scenarios like bathing, where physical contact is inevitable and necessary for proper task execution because force must be applied to the skin. Using finite element…
Scrubbing surfaces is a physically demanding and time-intensive task. Removing adhered contamination requires substantial friction generated through pressure and torque or high lateral forces. Rigid robotic manipulators, while capable of…
Hand gestures recognition (HGR) is one of the main areas of research for the engineers, scientists and bioinformatics. HGR is the natural way of Human Machine interaction and today many researchers in the academia and industry are working…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive…
Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…
We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…
The disposal and recycling of electronic waste (e-waste) is a global challenge. The disassembly of components is a crucial step towards an efficient recycling process, avoiding the destructive methods. Although most disassembly work is…
Wiping behavior is a task of tracing the surface of an object while feeling the force with the palm of the hand. It is necessary to adjust the force and posture appropriately considering the various contact conditions felt by the hand.…
From robots that replace workers to robots that serve as helpful colleagues, the field of robotic automation is experiencing a new trend that represents a huge challenge for component manufacturers. The contribution starts from an…
This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multimodal perception and dual (software and hardware) compliance…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Automating biological experimentation remains challenging due to the need for millimeter-scale precision, long and multi-step experiments, and the dynamic nature of living systems. Current liquid handlers only partially automate workflows,…
Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…
Sewing garments using robots has consistently posed a research challenge due to the inherent complexities in fabric manipulation. In this paper, we introduce an intelligent robotic automation system designed to address this issue. By…
Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…