Related papers: Motion Planning for Object Manipulation by Edge-Ro…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of…
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…
Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
A seamless integration of robots into human environments requires robots to learn how to use existing human tools. Current approaches for learning tool manipulation skills mostly rely on expert demonstrations provided in the target robot…
Manipulating unknown objects in a cluttered environment is difficult because segmentation of the scene into objects, that is, object composition is uncertain. Due to this uncertainty, earlier work has concentrated on either identifying the…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…