Related papers: Cooperative Task Spaces for Multi-Arm Manipulation…
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…
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…
The cooperation of a pair of robot manipulators is required to manipulate a target object without any fixtures. The conventional control methods coordinate the end-effector pose of each manipulator with that of the other using their…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
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…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
Humans can produce complex whole-body motions when interacting with their surroundings, by planning, executing and combining individual limb movements. We investigated this fundamental aspect of motor control in the setting of autonomous…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
The impressive capabilities of humans to robustly perform manipulation relies on compliant interactions, enabled through the structure and materials spatially distributed in our hands. We propose by mimicking this distributed compliance in…
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…