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Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each step of the manipulation process is addressed with dedicated…
In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in robotic manipulation.…
Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…
The ability of robots to navigate through doors is crucial for their effective operation in indoor environments. Consequently, extensive research has been conducted to develop robots capable of opening specific doors. However, the diverse…
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…
Compliant motions allow alignment of workpieces using naturally occurring interaction forces. However, free-floating objects do not have a fixed base to absorb the reaction forces caused by the interactions. Consequently, if the interaction…
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
Animals use limbs for both locomotion and manipulation. We aim to equip quadruped robots with similar versatility. This work introduces a system that enables quadruped robots to interact with objects using their legs, inspired by…
We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a…
Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go" handovers which permit a…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only…
In this paper, we consider the problem of non-prehensile manipulation using grasped objects. This problem is a superset of many common manipulation skills including instances of tool-use (e.g., grasped spatula flipping a burger) and…
Mobile grasping enhances manipulation efficiency by utilizing robots' mobility. This study aims to enable a commercial off-the-shelf robot for mobile grasping, requiring precise timing and pose adjustments. Self-supervised learning can…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…