Related papers: RAPID: Reconfigurable, Adaptive Platform for Itera…
The engineering design of robotic grippers presents an ample design space for optimization towards robust grasping. In this paper, we adopt the reconfigurable design of the robotic gripper using a novel soft finger structure with…
This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach reduces configuration space dimensionality by decoupling…
Quadruped mammals coordinate spinal bending and axial compression to enhance locomotion agility and efficiency. However, existing robotic spines typically lack the active compliance required to support such dynamic behaviours. We present…
We study the Regularized A-optimal Design (RAOD) problem, which selects a subset of $k$ experiments to minimize the inverse of the Fisher information matrix, regularized with a scaled identity matrix. RAOD has broad applications in Bayesian…
Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Although standard RL frameworks demonstrate impressive locomotion…
This study introduces CUPID, a novel approach to session-based reciprocal recommendation systems designed for a real-time one-on-one social discovery platform. In such platforms, low latency is critical to enhance user experiences. However,…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Modern physics experiments often utilize FPGA-based systems for real-time data acquisition. Integrated analog electronics demand for complex calibration routines. Furthermore, versatile configuration and control of the whole system is a key…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…
Diffusion Transformers (DiTs) excel at visual generation yet remain hampered by slow sampling. Existing training-free accelerators - step reduction, feature caching, and sparse attention - enhance inference speed but typically rely on a…
This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface is composed of parallel linear actuators that provide high…
This paper presents a new formulation for model-free robust optimal regulation of continuous-time nonlinear systems. The proposed reinforcement learning based approach, referred to as incremental adaptive dynamic programming (IADP),…
Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
In this paper, we propose a real-time adaptive prediction method to calculate smooth and accurate haptic feedback in complex scenarios. Smooth haptic feedback is an important task for haptic rendering with complex virtual objects. However,…
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…
Multi-sensor fusion is central to robust robotic perception, yet most existing systems operate under static sensor configurations, collecting all modalities at fixed rates and fidelity regardless of their situational utility. This rigidity…
We present efficient reduced basis (RB) methods for the simulation of the coupled problem consisting of a rigid robot hand interacting with soft tissue material which is modeled by the linear elasticity equation and discretized with the…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…