Related papers: Shared Object Manipulation with a Team of Collabor…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
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…
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,…
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…
Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…
Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
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…
Learning dexterous locomotion policy for legged robots is becoming increasingly popular due to its ability to handle diverse terrains and resemble intelligent behaviors. However, joint manipulation of moving objects and locomotion with…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
Grasping is the dominant approach for robot manipulation, but only a single object can be grasped at a time. Nonprehensile manipulation offers richer set of interactions, however state-of-the-art is limited to using the end-effector only.…
This paper presents a novel methodology that allows a swarm of robots to perform a cooperative transportation task. Our approach consists of modeling the swarm as a {\em Gibbs Random Field} (GRF), taking advantage of this framework's…
Endowing robots with the ability to rearrange various large and heavy objects, such as furniture, can substantially alleviate human workload. However, this task is extremely challenging due to the need to interact with diverse objects and…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…