Related papers: Kinematic Model Optimization via Differentiable Co…
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…
In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…
Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise definition of the state space and its dynamics. While this is…
Contact-rich manipulation requires reliable estimation of extrinsic contacts-the interactions between a grasped object and its environment which provide essential contextual information for planning, control, and policy learning. However,…
Stewart platform-based Parallel Kinematic (PKM) Machines have been extensively studied by researchers due to their inherent finer control characteristics. This has opened its potential deployment opportunities in versatile critical…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
On-orbit servicing represents a critical frontier in future aerospace engineering, with the manipulation of dynamic non-cooperative targets serving as a key technology. In microgravity environments, objects are typically free-floating,…
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics. This work develops a general formulation that integrates…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
As the availability of cobots increases, it is essential to address the needs of users with little to no programming knowledge to operate such systems efficiently. Programming concepts often use intuitive interaction modalities, such as…
In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
Myocardial motion and deformation are rich descriptors that characterize cardiac function. Image registration, as the most commonly used technique for myocardial motion tracking, is an ill-posed inverse problem which often requires prior…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parametrized by joint angles, generating a complicated…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
Reasoning about rolling and sliding contact, or roll-slide contact for short, is critical for dexterous manipulation tasks that involve intricate geometries. But existing works on roll-slide contact mostly focus on continuous shapes with…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…