Related papers: Closed-loop shape control of deformable linear obj…
In this paper, we explore generalizable, perception-to-action robotic manipulation for precise, contact-rich tasks. In particular, we contribute a framework for closed-loop robotic manipulation that automatically handles a category of…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
The purpose of this paper is to present a theoretic and numerical study of utilizing squeezing and phase shift in coherent feedback control of linear quantum optical systems. A quadrature representation with built-in phase shifters is…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing such motion strategies to precision in soft deformable robots…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…
Continuous monitoring and real-time control of high-dimensional distributed systems are often crucial in applications to ensure a desired physical behavior, without degrading stability and system performances. Traditional feedback control…
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
This paper presents a forward kinematics and analytical Jacobian computation approach for real-time control of a novel magnetic resonance imaging (MRI)-actuated robotic catheter. The MRI-actuated robotic catheter is modeled as a series of…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
In this paper, we present a general approach to automatically visual-servo control the position and shape of a deformable object whose deformation parameters are unknown. The servo-control is achieved by online learning a model mapping…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
In this paper, we tackle the problem of pushing piles of small objects into a desired target set using visual feedback. Unlike conventional single-object manipulation pipelines, which estimate the state of the system parametrized by pose,…
Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
Despite significant progress in robotics and embodied AI in recent years, deploying robots for long-horizon tasks remains a great challenge. Majority of prior arts adhere to an open-loop philosophy and lack real-time feedback, leading to…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…