Related papers: CPG-Based Manipulation with Multi-Module Origami R…
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's mobility without requiring precise contact modeling. However,…
Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter focuses on in-grasp object movement, which refers to…
This paper introduces a novel underactuated geometric compliant (UGC) robot and investigates the behaviors of underactuated compliant modules with variable radial stiffness, aiming to enhance the versatility and functionality of UGC robots.…
In this article, we study the problem of selecting a grasping pose on the surface of an object to be manipulated by considering three post-grasp objectives. These objectives include (i) kinematic manipulation capability, (ii) torque effort…
We develop subgradient- and gradient-based methods for minimizing strongly convex functions under a notion which generalizes the standard Euclidean strong convexity. We propose a unifying framework for subgradient methods which yields two…
Due to its rigid foldability and predictable kinematics, the reverse fold is the fundamental mechanism behind some of the most well known origami kinematic structures, including the Miura Ori, Yoshimura, and waterbomb patterns. However, the…
Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…
Large image generation and vision models, combined with differentiable rendering technologies, have become powerful tools for generating paths that can be drawn or painted by a robot. However, these tools often overlook the intrinsic…
An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve…
A novel motion control system for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and…
Biological studies reveal that neural circuits located at the spinal cord called central pattern generator (CPG) oscillates and generates rhythmic signals, which are the underlying mechanism responsible for rhythmic locomotion behaviors of…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Foldable robots have been an active area of robotics research due to their high volume-to-mass ratio, easy packability, and shape adaptability. For locomotion, previously developed foldable robots have either embedded linear actuators in,…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…
Precise in-hand manipulation of force-sensitive objects typically requires judicious coordinated force planning as well as accurate contact force feedback and control. Unlike multi-arm platforms with gripper end effectors, multi-fingered…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…