Related papers: Task-Driven Co-Design of Mobile Manipulators
Mobile manipulation in robotics is challenging due to the need of solving many diverse tasks, such as opening a door or picking-and-placing an object. Typically, a basic first-principles system description of the robot is available, thus…
Mobile manipulators can be used for machine tending and material handling tasks in small volume manufacturing applications. These applications usually have semi-structured work environment. The use of a fully autonomous mobile manipulator…
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different…
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
Task and motion planning is a well-established approach for solving long-horizon robot planning problems. However, traditional methods assume that each task-level robot action, or skill, can be reduced to kinematic motion planning. We…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Recent advances in robotics have been largely driven by imitation learning, which depends critically on large-scale, high-quality demonstration data. However, collecting such data remains a significant challenge-particularly for mobile…
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…
Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and…
Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…
Robotics can help address the growing worker shortage challenge of the manufacturing industry. As such, machine tending is a task collaborative robots can tackle that can also highly boost productivity. Nevertheless, existing robotics…
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we…