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Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
For robots to operate in a three dimensional world and interact with humans, learning spatial relationships among objects in the surrounding is necessary. Reasoning about the state of the world requires inputs from many different sensory…
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…
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…
Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
We present a hybrid control framework for solving a motion planning problem among a collection of heterogenous agents. The proposed approach utilizes a finite set of low-level motion primitives, each based on a piecewise affine feedback…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…