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Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
Many animals meander in environments and avoid collisions. How the underlying neuronal machinery can yield robust behaviour in a variety of environments remains unclear. In the fly brain, motion-sensitive neurons indicate the presence of…
Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence. However, as robots with complex physical structures, learning a control model that can operate robustly across diverse…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are known a priori, and thus, the robot can pre-compute a…
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…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question using opening of articulated structures as a mobile…