Related papers: Shared Object Manipulation with a Team of Collabor…

Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This approach is inefficient for solving more complicated tasks where…

Achieving cooperative transportation by aerial robot teams ensures flexibility regarding payloads and robustness against failures, which has garnered significant attention in recent years. This study proposes a flexible decentralized…

Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…

Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…

As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable locomotion. The challenge intensifies in real-world…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…

An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The standard hierarchical control pipeline for such legged…

We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…

Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…

One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…

Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…

Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel MR framework that allows multiple quadruped robots to operate…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) formulas. In particular, we propose a distributed model-free…

Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…

The paper deals with coupled systems including hand-operated balanced manipulators and lightweight robots. The aim of such a cooperation is to displace heavy payloads with less powerful robots. In other term, in the coupled system for…

We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and…