Related papers: Surface-Constrained Offline Warping with Contact-A…

Accurate and efficient modeling of agent interactions is essential for trajectory generation, the core of autonomous driving systems. Existing methods, scene-centric, agent-centric, and query-centric frameworks, each present distinct…

This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose 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…

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…

Recently developed reduced-order modeling techniques aim to approximate nonlinear dynamical systems on low-dimensional manifolds learned from data. This is an effective approach for modeling dynamics in a post-transient regime where the…

Extrinsic manipulation, the use of environment contacts to achieve manipulation objectives, enables strategies that are otherwise impossible with a parallel jaw gripper. However, orchestrating a long-horizon sequence of contact interactions…

Researchers are exploring Augmented Reality (AR) interfaces for online robot programming to streamline automation and user interaction in variable manufacturing environments. This study introduces an AR interface for online programming and…

Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focus on shape prediction alone and fail to account for contact…

Pushing is a useful robotic capability for positioning and reorienting objects. The ability to accurately predict the effect of pushes can enable efficient trajectory planning and complicated object manipulation. Physical prediction models…

Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…

Simulating curvature due to gravity through warped surfaces is a common visualization aid in Physics education. We reprise a recent experiment exploring orbital trajectories on a precise 3D-printed surface to mimic Newtonian gravity, and…

During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…

Imitation learning of robot policies from few demonstrations is crucial in open-ended applications. We propose a new method, Interaction Warping, for learning SE(3) robotic manipulation policies from a single demonstration. We infer the 3D…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Slip is a very common phenomena present in wheeled mobile robotic systems. It has undesirable consequences such as wasting energy and impeding system stability. To tackle the challenge of mobile robot trajectory tracking under slippery…

A control design for error reduction in the tracking control for a class of non-lower triangular nonlinear systems is presented by combining techniques of Variable Power Surface Error Function (VPSEF), backstepping, and dynamic surface…

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…

Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…

Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…

We introduce Topological Offsets, a novel approach to generate manifold and self-intersection-free offset surfaces that are topologically equivalent to an offset infinitesimally close to the surface. Our approach, by construction, creates a…