Related papers: Push Anything: Single- and Multi-Object Pushing Fr…
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and move to a desired location while avoiding static and dynamic…
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping…
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based…
Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…
Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contact patterns online. Nevertheless, the resulting optimization,…
Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulation through contacts using the whole surface of the body…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Decision making in advanced driver assistance systems involves in general the estimated trajectories of the surrounding objects. Multiple object tracking refers to the process of estimating in real time these trajectories, leveraging for…
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development…
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
Reconstructing metrically accurate humans and their surrounding scenes from a single image is crucial for virtual reality, robotics, and comprehensive 3D scene understanding. However, existing methods struggle with depth ambiguity,…
Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. However, tuning these controllers remains a considerable…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
We address a benchmark task in agile robotics: catching objects thrown at high-speed. This is a challenging task that involves tracking, intercepting, and cradling a thrown object with access only to visual observations of the object and…
This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction…
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Traditionally formulated as complementarity models,…
Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different…