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A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
World models allow autonomous agents to plan and explore by predicting the visual outcomes of different actions. However, for robot manipulation, it is challenging to accurately model the fine-grained robot-object interaction within the…
This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the receiver. The physical exchange starts when the receiver first…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
The multi-Agent Pickup and Delivery (MAPD) problem is crucial in the realm of Intelligent Storage Systems (ISSs), where multiple robots are assigned with time-varying, heterogeneous, and potentially uncertain tasks. When it comes to…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
Handovers are basic yet sophisticated motor tasks performed seamlessly by humans. They are among the most common activities in our daily lives and social environments. This makes mastering the art of handovers critical for a social and…
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…