Related papers: Coordinated Manipulation of Hybrid Deformable-Rigi…
This paper presents a Differential Dynamic Programming (DDP) framework for trajectory optimization (TO) of hybrid systems with state-based switching. The proposed Hybrid Systems DDP (HS-DDP) approach is considered for application to…
Robotic manipulation of deformable linear objects (DLOs) has great potential for applications in diverse fields such as agriculture or industry. However, a major challenge lies in acquiring accurate deformation models that describe the…
Garment manipulation is a critical challenge due to the diversity in garment categories, geometries, and deformations. Despite this, humans can effortlessly handle garments, thanks to the dexterity of our hands. However, existing research…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
We devise and evaluate numerically Hybrid High-Order (HHO) methods for hyperelastic materials undergoing finite deformations. The HHO methods use as discrete unknowns piecewise polynomials of order $k\ge1$ on the mesh skeleton, together…
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…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous works leverage Extrinsic Dexterity like walls or table edges…
Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large deformation tasks, especially those…
In this work, we propose a disentangled latent optimization-based method for parameterizing grouped deforming 3D objects into shape and deformation factors in an unsupervised manner. Our approach involves the joint optimization of a…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Deformable object manipulation has many applications such as cooking and laundry folding in our daily lives. Manipulating elastoplastic objects such as dough is particularly challenging because dough lacks a compact state representation and…