Related papers: Coordinated Manipulation of Hybrid Deformable-Rigi…
Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…
In nature, animals often need to move/manipulate objects comparable in weight/size to their own bodies. Compared to grasping and carrying, pushing provides a more straightforward and efficient non-prehensile manipulation strategy, avoiding…
Compliant mechanisms achieve motion through elastic deformation. In this work, we address the synthesis of a compliant cross-hinge mechanism capable of large angular strokes while approximating the behavior of an ideal revolute joint. To…
Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…
Perception of deformable linear objects (DLOs), such as cables, ropes, and wires, is the cornerstone for successful downstream manipulation. Although vision-based methods have been extensively explored, they remain highly vulnerable to…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches…
Optimal recursive decomposition (or DR-planning) is crucial for analyzing, designing, solving or finding realizations of geometric constraint sytems. While the optimal DR-planning problem is NP-hard even for general 2D bar-joint constraint…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…
This paper proposes a novel approach based on deep reinforcement learning (DRL) for the 2D+1 packing problem with spatial constraints. This problem is an extension of the traditional 2D packing problem, incorporating an additional…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges can be addressed by robot-assisted endoscope systems which…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…