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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…
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to enable the dexterity that is required for in-hand manipulation.…
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…
Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet…
Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Coordinated robotic manipulation of deformable linear objects (DLOs), such as ropes and cables, has been widely studied; however, handling hybrid assemblies composed of both deformable and rigid elements in constrained environments remains…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Object manipulation in robotics faces challenges due to diverse object shapes, sizes, and fragility. Gripper-based methods offer precision and low degrees of freedom (DOF) but the gripper limits the kind of objects to grasp. On the other…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
This paper investigates manipulation of multiple unknown objects in a crowded environment. Because of incomplete knowledge due to unknown objects and occlusions in visual observations, object observations are imperfect and action success is…
Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…
Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…
Many practically relevant robot grasping problems feature a target object for which all grasps are occluded, e.g., by the environment. Single-shot grasp planning invariably fails in such scenarios. Instead, it is necessary to first…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…