Related papers: EHC-MM: Embodied Holistic Control for Mobile Manip…
Mobile manipulation stands as a core challenge in robotics, enabling robots to assist humans across varied tasks and dynamic daily environments. Conventional mobile manipulation approaches often struggle to generalize across different tasks…
Mobile manipulators that combine mobility and manipulability, are increasingly being used for various unstructured application scenarios in the field, e.g. vineyards. Therefore, the coordinated motion of the mobile base and manipulator is…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
Locomotion is a fundamental skill for humanoid robots. However, most existing works make locomotion a single, tedious, unextendable, and unconstrained movement. This limits the kinematic capabilities of humanoid robots. In contrast, humans…
Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Embodied action planning is a core challenge in robotics, requiring models to generate precise actions from visual observations and language instructions. While video generation world models are promising, their reliance on pixel-level…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…
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…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only ensure accurate tracking of the target commands, but also…
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
Acquiring a multi-task imitation policy in 3D manipulation poses challenges in terms of scene understanding and action prediction. Current methods employ both 3D representation and multi-view 2D representation to predict the poses of the…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…