Related papers: Multifingered force-aware control for humanoid rob…
Analysis of grip force signals tailored to hand and finger movement evolution and changes in grip force control during task execution provide unprecedented functional insight into somatosensory cognition. Somatosensory cognition is the…
This paper presents a novel multi-axis force-sensing approach in robotic minimally invasive surgery with no modification to the surgical instrument. Thus, it is adaptable to different surgical instruments. A novel 6-axis optical force…
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human-like functionality. Inspired by the Pisa/IIT SoftHand, this…
Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…
We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…
Mixed Reality (MR) is constantly evolving to inspire new patterns of robot manipulation for more advanced Human- Robot Interaction under the 4th Industrial Revolution Paradigm. Consider that Mixed Reality aims to connect physical and…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to these velocities is challenging, further complicated by…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
Tactile sensing holds great promise for enhancing manipulation precision and versatility, but its adoption in robotic hands remains limited due to high sensor costs, manufacturing and integration challenges, and difficulties in extracting…
Human-like dexterous hands with multiple fingers offer human-level manipulation capabilities, but training control policies that can directly deploy on real hardware remains difficult due to contact-rich physics and imperfect actuation. We…
Robotic minimally invasive interventions typically require using more than two instruments. We thus developed a foot pedal interface which allows the user to control a robotic arm (simultaneously to working with the hands) with four degrees…
This paper proposes a wearable-controlled mobile manipulator system for intelligent smart home assistance, integrating MEMS capacitive microphones, IMU sensors, vibration motors, and pressure feedback to enhance human-robot interaction. The…
With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…
Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object…