Related papers: Scalable Surface-Based Manipulation Through Modula…
Transmission through reconfigurable intelligent surfaces (RISs), which control the reflection/scattering characteristics of incident waves in a deliberate manner to enhance the signal quality at the receiver, appears as a promising…
On-chip mode-division multiplexing (MDM) has been emerging as a promising technology to further enhance the link capacity and bandwidth of data communications with multiple mode channels. Both mode converters and mode exchangers are…
We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…
Reconfigurable intelligent surfaces (RIS) have drawn considerable attention recently due to their controllable scattering elements that are able to direct electromagnetic waves into desirable directions. Although RISs share some…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
Designing reconfigurable metasurfaces that can dynamically control scattered electromagnetic waves and work in the near-infrared (NIR) and optical regimes remains a challenging task, which is hindered by the static material property and…
Moving large objects, such as furniture or appliances, is a critical capability for robots operating in human environments. This task presents unique challenges, including whole-body coordination to avoid collisions and managing the…
Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
This letter proposes a movable beyond-diagonal reconfigurable intelligent surfaces (MA-BD-RIS) design, combining inter-element connectivity and movability for channel enhancement. We study a MA-BD-RIS assisted multi-user multiple input…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…
Mobile edge computing (MEC) has been regarded as a promising technique to support latencysensitivity and computation-intensive serves. However, the low offloading rate caused by the random channel fading characteristic becomes a major…
Physical simulators have been widely used in robot planning and control. Among them, differentiable simulators are particularly favored, as they can be incorporated into gradient-based optimization algorithms that are efficient in solving…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
This paper investigates an intelligent reflecting surface (IRS) aided cooperative communication network, where the IRS exploits large reflecting elements to proactively steer the incident radio-frequency wave towards destination terminals…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when interacting with articulated objects. By abstracting…
Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…