Related papers: Integrative Wrapping System for a Dual-Arm Humanoi…
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution…
We introduce a practical robotics solution for the task of heterogeneous bagging, requiring the placement of multiple rigid and deformable objects into a deformable bag. This is a difficult task as it features complex interactions between…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Bidirectional object handover between a human and a robot enables an important functionality skill in robotic human-centered manufacturing or services. The problem in achieving this skill lies in the capacity of any solution to deal with…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…
A neural network based flexible object manipulation system for a humanoid robot on FPGA is proposed. Although the manipulations of flexible objects using robots attract ever increasing attention since these tasks are the basic and essential…
Humans excel in complex long-horizon soft body manipulation tasks via flexible tool use: bread baking requires a knife to slice the dough and a rolling pin to flatten it. Often regarded as a hallmark of human cognition, tool use in…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…
Learning to manipulate cloth is both a paradigmatic problem for robotic research and a problem of immediate relevance to a variety of applications ranging from assistive care to the service industry. The complex physics of the deformable…