Related papers: Heterogeneous object manipulation on nonlinear sof…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
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…
Dexterous in-hand manipulation (IHM) for arbitrary objects is challenging due to the rich and subtle contact process. Variable-friction manipulation is an alternative approach to dexterity, previously demonstrating robust and versatile 2D…
Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…
Recent advancements in robot tool use have unlocked their usage for novel tasks, yet the predominant focus is on rigid-body tools, while the investigation of soft-body tools and their dynamic interaction with rigid bodies remains…
Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…
We propose a framework for robust and efficient training of Dense Object Nets (DON) with a focus on multi-object robot manipulation scenarios. DON is a popular approach to obtain dense, view-invariant object descriptors, which can be used…
Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…
We tackle the challenges of synthesizing versatile, physically simulated human motions for full-body object manipulation. Unlike prior methods that are focused on detailed motion tracking, trajectory following, or teleoperation, our…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…
Human-centric video generation has advanced rapidly, yet existing methods struggle to produce controllable and physically consistent Human-Object Interaction (HOI) videos. Existing works rely on dense control signals, template videos, or…
Automating contact-rich manipulation of viscoelastic objects with rigid robots faces challenges including dynamic parameter mismatches, unstable contact oscillations, and spatiotemporal force-deformation coupling. In our prior work, a…
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their…
In-hand object manipulation is an important capability for dexterous manipulation. In this paper, we introduce a modeling and planning framework for in-hand object reconfiguration, focusing on frictional patch contacts between the robot's…
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…
This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model…
We introduce a practical robotics solution for the task of heterogeneous bagging, requiring the placement of multiple rigid and deformable objects into a deformable bag. This is a difficult task as it features complex interactions between…