Related papers: Interactive Navigation with Adaptive Non-prehensil…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…
Mobile robots are increasingly deployed in unstructured environments where obstacles and objects are movable. Navigation in such environments is known as interactive navigation, where task completion requires not only avoiding obstacles but…
Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…
Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
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…
Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate large…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
We propose a hierarchical reinforcement learning (HRL) framework for efficient Navigation Among Movable Obstacles (NAMO) using a mobile manipulator. Our approach combines interaction-based obstacle property estimation with structured…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…
While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range…
Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…
In this paper, we present an in-depth analysis of Navigation Among Movable Obstacles (NAMO) literature, notably highlighting that social acceptability remains an unadressed problem in this robotics navigation domain. The objectives of a…