Related papers: Exploring How Non-Prehensile Manipulation Expands …
The use of exoskeleton robots is increasing due to the rising number of musculoskeletal injuries. However, their effectiveness depends heavily on the design of control systems. Designing robust controllers is challenging because of…
Contact adaption is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajectory Optimization (TO) method formulated as a Mathematical…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
Long-term non-prehensile planar manipulation is a challenging task for planning and control, requiring determination of both continuous and discrete contact configurations, such as contact points and modes. This leads to the non-convexity…
Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging due to the quadrupeds' nonlinear dynamics, high degrees of…
Reinforcement learning (RL) has enabled advances in humanoid robot locomotion, yet most learning frameworks do not account for mechanical intelligence embedded in parallel actuation mechanisms due to limitations in simulator support for…
The complex dynamics of agile robotic legged locomotion requires motion planning to intelligently adjust footstep locations. Often, bipedal footstep and motion planning use mathematically simple models such as the linear inverted pendulum,…
We use fused deposition modeling (FDM) 3D printing as a case study of how manufacturing robots can use imperfect AI to acquire process expertise. In FDM, print configuration strongly affects output quality. Yet, novice users typically rely…
We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a…
Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…
The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint-level controller that dispenses with differential equations…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
The body structures of tendon-driven musculoskeletal humanoids are complex, and accurate modeling is difficult, because they are made by imitating the body structures of human beings. For this reason, we have not been able to move them…