Related papers: Adaptive Manipulation Potential and Haptic Estimat…
This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degrees…
Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation through these methods remains a pivotal challenge, which is…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
We propose a new constrained EM algorithm that is applicable to general constrained estimation problems. The proposed method is based on a novel framework, the `dual-homotopy framework,' which combines deterministic annealing EM with a…
Tendon-driven underactuated hands excel in adaptive grasping but often suffer from kinematic unpredictability and highly non-linear force transmission. This ambiguity limits their ability to perform precise free-motion shaping and deliver…
This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation with an online multi-stage object inertial parameter…
This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact modes. We define symbolic actions as contact mode changes,…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…
This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degree…
Adapting upper-limb impedance (i.e., stiffness, damping, inertia) is essential for humans interacting with dynamic environments for executing grasping or manipulation tasks. On the other hand, control methods designed for state-of-the-art…
Robot-mediated human-human (dyadic) interactions enable therapists to provide physical therapy remotely, yet an accurate perception of patient stiffness remains challenging due to network-induced haptic delays. Conventional stiffness…
Event-related potentials (ERPs) extracted from electroencephalography (EEG) data in response to stimuli are widely used in psychological and neuroscience experiments. A major goal is to link ERP characteristic components to subject-level…
Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very…
Emotional Mimicry Intensity (EMI) estimation plays a pivotal role in understanding human social behavior and advancing human-computer interaction. The core challenges lie in dynamic correlation modeling and robust fusion of multimodal…
In this paper, we explore generalizable, perception-to-action robotic manipulation for precise, contact-rich tasks. In particular, we contribute a framework for closed-loop robotic manipulation that automatically handles a category of…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
World Action Models (WAMs) have emerged as a promising paradigm for robot control by modeling physical dynamics. Current WAMs generally follow two paradigms: the "Imagine-then-Execute" approach, which uses video prediction to infer actions…
Contact-rich manipulation often requires strategic interactions with objects, such as pushing to accomplish specific tasks. We propose a novel scenario where a robot inserts a book into a crowded shelf by pushing aside neighboring books to…