Related papers: Wrench-Aware Admittance Control for Unknown-Payloa…
In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built…
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Real-world applications require a robot operating in the physical world with awareness of potential risks besides accomplishing the task. A large part of risky behaviors arises from interacting with objects in ignorance of affordance. To…
Over the past decades, we have witnessed a rapid emergence of soft and reconfigurable robots thanks to their capability to interact safely with humans and adapt to complex environments. However, their softness makes accurate control very…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque…
Manipulating arbitrary objects in unstructured environments is a significant challenge in robotics, primarily due to difficulties in determining an object's center of mass. This paper introduces U-GRAPH: Uncertainty-Guided Rotational Active…
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial to performing real-world force interaction tasks with…
Adaptation to external and internal changes is major for robotic systems in uncertain environments. Here we present a novel multisensory active inference torque controller for industrial arms that shows how prediction can be used to resolve…
Robotic systems often use predictive uncertainty to decide whether to act autonomously or defer to a fallback policy. In threshold-gated autonomy, uncertainty matters mainly through its ability to rank likely errors. Standard metrics such…
We propose a risk-aware framework for multi-robot, multi-demand assignment and planning in unknown environments. Our motivation is disaster response and search-and-rescue scenarios where ground vehicles must reach demand locations as soon…
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…
Object transport tasks are fundamental in robotic automation, emphasizing the importance of efficient and secure methods for moving objects. Non-prehensile transport can significantly improve transport efficiency, as it enables handling…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…