Related papers: Prescribed Performance Control of Deformable Objec…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
Manipulating clusters of deformable objects presents a substantial challenge with widespread applicability, but requires contact-rich whole-arm interactions. A potential solution must address the limited capacity for realistic model…
Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
Advancing robotic manipulation of deformable objects can enable automation of repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality of deformable…
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…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
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…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
This paper presents a new prescribed performance control scheme for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances under mechanical constraints. First, a novel prescribed performance…
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…
We present an approach to robustly track the geometry of an object that deforms over time from a set of input point clouds captured from a single viewpoint. The deformations we consider are caused by applying forces to known locations on…
A crucial problem in shape deformation analysis is to determine a deformation of a given shape into another one, which is optimal for a certain cost. It has a number of applications in particular in medical imaging. In this article we…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
We introduce Structured 3D Features, a model based on a novel implicit 3D representation that pools pixel-aligned image features onto dense 3D points sampled from a parametric, statistical human mesh surface. The 3D points have associated…
We present a data-driven optimization approach for robotic controlled deposition with a degradable tool. Existing methods make the assumption that the tool tip is not changing or is replaced frequently. Errors can accumulate over time as…
This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D…