Related papers: CPG-Based Manipulation with Multi-Module Origami R…
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics,…
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…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
Origami and kirigami have emerged as potential tools for the design of mechanical metamaterials whose properties such as curvature, Poisson ratio, and existence of metastable states can be tuned using purely geometric criteria. A major…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Robotic manipulation of rigid objects via deformable linear objects (DLO) such as ropes is an emerging field of research with applications in various rigid object transportation tasks. A few methods that exist in this field suffer from…
This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed…
An originally chaotic system can be controlled into various periodic dynamics. When it is implemented into a legged robot's locomotion control as a central pattern generator (CPG), sophisticated gait patterns arise so that the robot can…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is presented here with the aid of a snake robot model problem…
Central Pattern Generators (CPGs) form the neural basis of the observed rhythmic behaviors for locomotion in legged animals. The CPG dynamics organized into networks allow the emergence of complex locomotor behaviors. In this work, we take…
Grasping with anthropomorphic robotic hands involves much more hand-object interactions compared to parallel-jaw grippers. Modeling hand-object interactions is essential to the study of multi-finger hand dextrous manipulation. This work…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
While Central Pattern Generators (CPGs) and Multi-Layer Perceptrons (MLP) are widely used paradigms in robot control, few systematic studies have been performed on the relative merits of large parameter spaces. In contexts where input and…
Neuromorphic computing systems, where information is transmitted through action potentials in a bio-plausible fashion, is gaining increasing interest due to its promise of low-power event-driven computing. Application of neuromorphic…
To substantially enhance robot intelligence, there is a pressing need to develop a large model that enables general-purpose robots to proficiently undertake a broad spectrum of manipulation tasks, akin to the versatile task-planning ability…
Existing Civil Engineering structures have limited capability to adapt their configurations for new functions, non-stationary environments, or future reuse. Although origami principles provide capabilities of dense packaging and…