Related papers: Scalable Surface-Based Manipulation Through Modula…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
The ability to perform in-hand manipulation still remains an unsolved problem; having this capability would allow robots to perform sophisticated tasks requiring repositioning and reorienting of grasped objects. In this work, we present a…
Reconfigurable intelligent surfaces (RISs) are an emerging technology for enhancing the performance of wireless networks at a low and affordable cost, complexity, and power consumption. We introduce an algorithm for optimizing a…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
This paper introduces a novel approach of utilizing the reconfigurable intelligent surface (RIS) for joint data modulation and signal beamforming in a multi-user downlink cellular network by leveraging the idea of backscatter communication.…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
Modularity in robotics holds great potential. In principle, modular robots can be disassembled and reassembled in different robots, and possibly perform new tasks. Nevertheless, actually exploiting modularity is yet an unsolved problem:…
Recently, the reconfigurable intelligent surface (RIS), benefited from the breakthrough on the fabrication of programmable meta-material, has been speculated as one of the key enabling technologies for the future six generation (6G)…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
High-quality, long-horizon demonstrations are essential for embodied AI, yet acquiring such data for tightly coupled wheeled mobile manipulators remains a fundamental bottleneck. Unlike fixed-base systems, mobile manipulators require…
A reactive obstacle avoidance method for mobile manipulators is presented. The objectives of the developed algorithm are twofold. The first one is to find a trajectory in the configuration space of a mobile manipulator so as to follow a…
Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…
Active transmissive metasurfaces are central building blocks for future compact, cascadable optical systems, enabling the stacking of multiple functional layers for advanced dynamic beam shaping, photonic neural networks, depth sensing, and…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds…
Sequential multi-step cloth manipulation is a challenging problem in robotic manipulation, requiring a robot to perceive the cloth state and plan a sequence of chained actions leading to the desired state. Most previous works address this…
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…