Related papers: EHC-MM: Embodied Holistic Control for Mobile Manip…
Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…
Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…
In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Merging mobile edge computing (MEC) functionality with the dense deployment of base stations (BSs) provides enormous benefits such as a real proximity, low latency access to computing resources. However, the envisioned integration creates…
Dexterous hands exhibit significant potential for complex real-world grasping tasks. While recent studies have primarily focused on learning policies for specific robotic hands, the development of a universal policy that controls diverse…
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a concept known as shared intelligence. Additionally, humans…
This paper proposes a fully decentralized model predictive control (MPC) framework with control barrier function (CBF) constraints for safety-critical trajectory planning in multi-robot legged systems. The incorporation of CBF constraints…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…
Brain-computer interface (BCI) is a practical pathway to interpret users' intentions by decoding motor execution (ME) or motor imagery (MI) from electroencephalogram (EEG) signals. However, developing a BCI system driven by ME or MI is…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
Mobile Manipulation (MM) systems are ideal candidates for taking up the role of a personal assistant in unstructured real-world environments. Among other challenges, MM requires effective coordination of the robot's embodiments for…
Manipulating objects to achieve desired goal states is a basic but important skill for dexterous manipulation. Human hand motions demonstrate proficient manipulation capability, providing valuable data for training robots with multi-finger…
One of the most promising approaches to overcome the uncertainty and dynamic channel variations of millimeter wave (mmW) communications is to deploy dual-mode base stations that integrate both mmW and microwave ($\mu$W) frequencies. If…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-scale datasets, there still remains a…