Related papers: ForcePinch: Force-Responsive Spatial Interaction f…
Conventional trajectory planning approaches for autonomous vehicles often assume a fixed vehicle model that remains constant regardless of the vehicle's location. This overlooks the critical fact that the tires and the surface are the two…
Humans interact with an object in many different ways by making contact at different locations, creating a highly complex motion space that can be difficult to learn, particularly when synthesizing such human interactions in a controllable…
In most contact-rich manipulation tasks, humans apply time-varying forces to the target object, compensating for inaccuracies in the vision-guided hand trajectory. However, current robot learning algorithms primarily focus on…
Task-space control of robotic fingers is a critical enabler of dexterous manipulation, as manipulation objectives are most naturally specified in terms of fingertip motions and applied forces rather than individual joint angles. While…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
Pseudo-haptics techniques are interesting alternatives for generating haptic perceptions, which entails the manipulation of haptic perception through the appropriate alteration of primarily visual feedback in response to body movements.…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
In robotic manipulation, end-effector compliance is an essential precondition for performing contact-rich tasks, such as machining, assembly, and human-robot interaction. Most robotic arms are position-controlled stiff systems at a hardware…
Many applications require robots to move through complex 3-D terrain with large obstacles, such as self-driving, search and rescue, and extraterrestrial exploration. Although robots are already excellent at avoiding sparse obstacles, they…
When legged robots impact their environment, they undergo large changes in their velocities in a small amount of time. Measuring and applying feedback to these velocities is challenging, and is further complicated due to uncertainty in the…
We introduce a novel method for controlling a motion sequence using an arbitrary temporal control sequence using temporal alignment. Temporal alignment of motion has gained significant attention owing to its applications in motion control…
Real-time tracking of previously unseen, highly dynamic objects in contact-rich scenes, such as during dexterous in-hand manipulation, remains a major challenge. Pure vision-based approaches often fail under heavy occlusions due to frequent…
Imitation learning offers a pathway for robots to perform repetitive tasks, allowing humans to focus on more engaging and meaningful activities. However, challenges arise from the need for extensive demonstrations and the disparity between…
Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Advancements in the domain of physical human-robot interaction (pHRI) have tremendously improved the ability of humans and robots to communicate, collaborate, and coexist. In particular, compliant robotic systems offer many characteristics…
While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
Due to the challenges of processing temporal information, most trackers depend solely on visual discriminability and overlook the unique temporal coherence of video data. In this paper, we propose a lightweight and plug-and-play motion…
Humanoid Reaction Synthesis is pivotal for creating highly interactive and empathetic robots that can seamlessly integrate into human environments, enhancing the way we live, work, and communicate. However, it is difficult to learn the…