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Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…
The knuckleball is perhaps the most enigmatic pitch in baseball. Relying on the presence of raised seams on the surface of the ball to create asymmetric flow, a knuckleball's trajectory has proven very challenging to predict compared to…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…
The act of a person juggling can be viewed as a Markov process if we assume that the juggler throws to random heights. I make this association for the simplest reasonable model of random juggling and compute the steady state probabilities…
Juggling a devil-stick can be described as a problem of non-prehensile manipulation. Assuming that the devil-stick remains confined to the vertical plane, the problem of juggling the stick between two symmetric configurations is considered.…
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most…
Analyzing high-dimensional data and finding hidden patterns is a difficult problem and has attracted numerous research efforts. Automated methods can be useful to some extent but bringing the data analyst into the loop via interactive…
Structured prediction tasks pose a fundamental trade-off between the need for model complexity to increase predictive power and the limited computational resources for inference in the exponentially-sized output spaces such models require.…
It is a crucial problem in robotics field to cage an object using robots like multifingered hand. However the problem what is the caging for general geometrical objects and robots has not been well-described in mathematics though there were…
Joining records with all other records that meet a linkage condition can result in an astronomically large number of combinations due to many-to-many relationships. For such challenging (acyclic) joins, a random sample over the join result…
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is…
During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between…
Controlled manipulation of multiple objects whose dynamics are closely linked is a challenging problem within contact-rich manipulation, requiring an understanding of how the movement of one will impact the others. Using the Jenga game as a…
Humans perform everyday tasks using a combination of locomotion and manipulation skills. Building a system that can handle both skills is essential to creating virtual humans. We present a physically-simulated human capable of solving box…
Performance evaluation of caching systems is an old and widely investigated research topic. The research community is once again actively working on this topic because the Internet is evolving towards new transfer modes, which envisage to…
In human-robot collaboration, a robot's expression of hesitancy is a critical factor that shapes human coordination strategies, attention allocation, and safety-related judgments. However, designing hesitant robot motion that generalizes is…
We consider straggler-resilient learning. In many previous works, e.g., in the coded computing literature, straggling is modeled as random delays that are independent and identically distributed between workers. However, in many practical…
Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. The robot must choose a sequence of discrete actions, or strategy, such…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…