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Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
Knowing the inertia parameters of a grasped object is crucial for dynamics-aware manipulation, especially in space robotics with free-floating bases. This work addresses the problem of estimating the inertia parameters of an unknown target…
Robotic automation is accelerating scientific discovery by reducing manual effort in laboratory workflows. However, precise manipulation of powders remains challenging, particularly in tasks such as transport that demand accuracy and…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…
Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers from weak excitation, leading to unreliable…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…
From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging under geometric uncertainties, e.g., when the object pose or…
Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
The paper is devoted to the accuracy improvement of robot-based milling by using an enhanced manipulator model that takes into account both geometric and elastostatic factors. Particular attention is paid to the model parameters…
The free-form deformation model can represent a wide range of non-rigid deformations by manipulating a control point lattice over the image. However, due to a large number of parameters, it is challenging to fit the free-form deformation…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Recent developments have created differentiable physics simulators designed for machine learning pipelines that can be accelerated on a GPU. While these can simulate biomechanical models, these opportunities have not been exploited for…
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we…
Visual-inertial odometry (VIO) is an important technology for autonomous robots with power and payload constraints. In this paper, we propose a novel approach for VIO with stereo cameras which integrates and calibrates the velocity-control…
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…