Related papers: Exploring How Non-Prehensile Manipulation Expands …
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. However, enforcing inequality constraints in real time for such…
Imitation learning frameworks for robotic manipulation have drawn attention in the recent development of language model grounded robotics. However, the success of the frameworks largely depends on the coverage of the demonstration cases:…
Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as…
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the…
Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…
Effective motion representation is crucial for enabling robots to imitate expressive behaviors in real time, yet existing motion controllers often ignore inherent patterns in motion. Previous efforts in representation learning do not…
This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact manipulation as a partially observable Markov decision process…
Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…
Robot manipulation in a physically-constrained environment requires compliant manipulation. Compliant manipulation is a manipulation skill to adjust hand motion based on the force imposed by the environment. Recently, reinforcement learning…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
This paper concentrates on the development of Chat-PM, a class of composite hybrid aerial/terrestrial manipulator, in concern with composite configuration design, dynamics modeling, motion control and force estimation. Compared with…
In this work, we highlight vulnerabilities in robotic systems integrating large language models (LLMs) and vision-language models (VLMs) due to input modality sensitivities. While LLM/VLM-controlled robots show impressive performance across…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
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…
Robotic manipulation policies are increasingly empowered by \textit{large language models} (LLMs) and \textit{vision-language models} (VLMs), leveraging their understanding and perception capabilities. Recently, inference-time attacks…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction…
Manipulating objects without grasping them is an essential component of human dexterity, referred to as non-prehensile manipulation. Non-prehensile manipulation may enable more complex interactions with the objects, but also presents…
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…