Related papers: Task-Driven Co-Design of Mobile Manipulators
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…
Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes, the usual sequential process of first…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuous) motion planning phases, where each phase on its own is…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to enable the dexterity that is required for in-hand manipulation.…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Rearranging objects on a planar surface arises in a variety of robotic applications, such as product packaging. Using two arms can improve efficiency but introduces new computational challenges. This paper studies the structure of dual-arm…
Mobile manipulation planning commonly adopts a decoupled approach that performs planning separately on the base and the manipulator. While this approach is fast, it can generate sub-optimal paths. Another direction is a coupled approach…
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of…
Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…