Related papers: A Contact-Driven Framework for Manipulating in the…
The realization of universal robots is an ultimate goal of researchers. However, a key hurdle in achieving this goal lies in the robots' ability to manipulate objects in their unstructured surrounding environments according to different…
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures safe and global navigation towards a target location by…
While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range…
In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…
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…
Autonomous robots in unstructured and dynamically changing retail environments have to master complex perception, knowledgeprocessing, and manipulation tasks. To enable them to act competently, we propose a framework based on three core…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
As autonomous vehicles (AVs) become increasingly prevalent, their interaction with human drivers presents a critical challenge. Current AVs lack social awareness, causing behavior that is often awkward or unsafe. To combat this, social AVs,…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Robot actions influence the decisions of nearby humans. Here influence refers to intentional change: robots influence humans when they shift the human's behavior in a way that helps the robot complete its task. Imagine an autonomous car…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking…
The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…
In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…
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…
This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with…
In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass to robot payload ratio increases, given the strong inertial…