Related papers: Contact Tooling Manipulation Control for Robotic R…
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic…
Robotic cutting is a challenging contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. We introduce a new active virtual-model control…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…
To exploit the compliant capabilities of soft robot arms we require controller which can exploit their physical capabilities. Teleoperation, leveraging a human in the loop, is a key step towards achieving more complex control strategies.…
With soft robotics being increasingly employed in settings demanding high and controlled contact forces, recent research has demonstrated the use of soft robots to estimate or intrinsically sense forces without requiring external sensing…
Teleoperation is vital in the construction industry, allowing safe machine manipulation from a distance. However, controlling machines at a joint level requires extensive training due to their complex degrees of freedom. Task space control…
Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
In this paper, we present a framework that unites obstacle avoidance and deliberate physical interaction for robotic manipulators. As humans and robots begin to coexist in work and household environments, pure collision avoidance is…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
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…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
The utilization of teleoperation is a crucial aspect of the construction industry, as it enables operators to control machines safely from a distance. However, remote operation of these machines at a joint level using individual joysticks…
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…
In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing and sequencing contact locations for in-hand manipulation,…
Automating contact-rich manipulation of viscoelastic objects with rigid robots faces challenges including dynamic parameter mismatches, unstable contact oscillations, and spatiotemporal force-deformation coupling. In our prior work, a…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…