Related papers: Wrench-Aware Admittance Control for Unknown-Payloa…

A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…

Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…

With the goal of increasing the speed and efficiency in robotic manipulation, a control approach is presented that aims to utilize intentional simultaneous impacts to its advantage. This approach exploits the concept of the time-invariant…

This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…

In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these…

We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…

Manipulation is a key capability in domestic service robots, as can be seen in the rulebooks of last Robocup@Home editions. Currently, object recognition is performed based mostly on visual information. Some robots use also 3D information…

As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…

Transformers have recently been utilized to perform object detection and tracking in the context of autonomous driving. One unique characteristic of these models is that attention weights are computed in each forward pass, giving insights…

Many physical tasks such as pulling out a drawer or wiping a table can be modeled with geometric constraints. These geometric constraints are characterized by restrictions on kinematic trajectories and reaction wrenches (forces and moments)…

Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

At present, in most warehouse environments, the accumulation of goods is complex, and the management personnel in the control of goods at the same time with the warehouse mobile robot trajectory interaction, the traditional mobile robot can…

Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…

Compliant robot behavior is crucial for the realization of contact-rich manipulation tasks. In such tasks, it is important to ensure a high stiffness and force tracking accuracy during normal task execution as well as rapid adaptation and…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…

Stabilization and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand or may vary during the practical…