Related papers: ForcePinch: Force-Responsive Spatial Interaction f…
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel…
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…
Recent advances in transformer-based lightweight object tracking have established new standards across benchmarks, leveraging the global receptive field and powerful feature extraction capabilities of attention mechanisms. Despite these…
Robot trajectories used for learning end-to-end robot policies typically contain end-effector and gripper position, workspace images, and language. Policies learned from such trajectories are unsuitable for delicate grasping, which require…
Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the same time predicting essential trends and capturing rich…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-speed motion, real-time whole-body coordination, and…
One of the most crucial yet challenging tasks for autonomous vehicles in urban environments is predicting the future behaviour of nearby pedestrians, especially at points of crossing. Predicting behaviour depends on many social and…
This work explores how force feedback affects various aspects of robot data collection within the Extended Reality (XR) setting. Force feedback has been proved to enhance the user experience in Extended Reality (XR) by providing…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Three-dimensional (3D) applications have come to every corner of life. We present 3DTouch, a novel 3D wearable input device worn on the fingertip for interacting with 3D applications. 3DTouch is self-contained, and designed to universally…
Teleoperation tasks with multi-agent systems have a high potential in supporting human-swarm collaborative teams in exploration and rescue operations. However, it requires an intuitive and adaptive control approach to ensure swarm stability…
This paper presents a sampling-based planning algorithm for in-hand manipulation of a grasped object using a series of external pushes. A high-level sampling-based planning framework, in tandem with a low-level inverse contact dynamics…
Handheld grippers are increasingly used to collect human demonstrations due to their ease of deployment and versatility. However, most existing designs lack tactile sensing, despite the critical role of tactile feedback in precise…
While tremendous advances in visual and auditory realism have been made for virtual and augmented reality (VR/AR), introducing a plausible sense of physicality into the virtual world remains challenging. Closing the gap between real-world…